/** Function to manage TMC data transmission and reception to and from the host. */
void TMC_Task(void)
{
/* Device must be connected and configured for the task to run */
if (USB_DeviceState != DEVICE_STATE_Configured)
return;
TMC_MessageHeader_t MessageHeader;
uint8_t MessagePayload[128];
/* Try to read in a TMC message from the interface, process if one is available */
if (ReadTMCHeader(&MessageHeader))
{
/* Indicate busy */
LEDs_SetAllLEDs(LEDMASK_USB_BUSY);
switch (MessageHeader.MessageID)
{
case TMC_MESSAGEID_DEV_DEP_MSG_OUT:
LastTransferLength = 0;
while (Endpoint_Read_Stream_LE(MessagePayload, MIN(MessageHeader.TransferSize, sizeof(MessagePayload)), &LastTransferLength) ==
ENDPOINT_RWSTREAM_IncompleteTransfer)
{
if (IsTMCBulkOUTReset)
break;
}
Endpoint_ClearOUT();
ProcessSentMessage(MessagePayload, LastTransferLength);
break;
case TMC_MESSAGEID_DEV_DEP_MSG_IN:
Endpoint_ClearOUT();
MessageHeader.TransferSize = GetNextMessage(MessagePayload);
MessageHeader.MessageIDSpecific.DeviceOUT.LastMessageTransaction = true;
WriteTMCHeader(&MessageHeader);
LastTransferLength = 0;
while (Endpoint_Write_Stream_LE(MessagePayload, MessageHeader.TransferSize, &LastTransferLength) ==
ENDPOINT_RWSTREAM_IncompleteTransfer)
{
if (IsTMCBulkINReset)
break;
}
Endpoint_ClearIN();
break;
default:
Endpoint_StallTransaction();
break;
}
LEDs_SetAllLEDs(LEDMASK_USB_READY);
}
/* All pending data has been processed - reset the data abort flags */
IsTMCBulkINReset = false;
IsTMCBulkOUTReset = false;
}
/** Function to manage TMC data transmission and reception to and from the host. */
void TMC_Task(void)
{
/* Device must be connected and configured for the task to run */
if (USB_DeviceState != DEVICE_STATE_Configured)
return;
TMC_MessageHeader_t MessageHeader;
/* Try to read in a TMC message from the interface, process if one is available */
if (ReadTMCHeader(&MessageHeader))
{
/* Indicate busy */
LEDs_SetAllLEDs(LEDMASK_USB_BUSY);
switch (MessageHeader.MessageID)
{
case TMC_MESSAGEID_DEV_DEP_MSG_OUT:
Endpoint_Discard_Stream(MessageHeader.TransferSize, StreamCallback_AbortOUTOnRequest);
Endpoint_ClearOUT();
break;
case TMC_MESSAGEID_DEV_DEP_MSG_IN:
Endpoint_ClearOUT();
MessageHeader.TransferSize = 3;
WriteTMCHeader(&MessageHeader);
Endpoint_Write_Stream_LE("TMC", 3, StreamCallback_AbortINOnRequest);
Endpoint_ClearIN();
break;
default:
Endpoint_StallTransaction();
break;
}
LEDs_SetAllLEDs(LEDMASK_USB_READY);
}
/* All pending data has been processed - reset the data abort flags */
IsTMCBulkINReset = false;
IsTMCBulkOUTReset = false;
}
