static int tweak_reset_device_cmd(struct urb *urb)
{
struct usb_ctrlrequest *req;
__u16 value;
__u16 index;
int ret;
req = (struct usb_ctrlrequest *) urb->setup_packet;
value = le16_to_cpu(req->wValue);
index = le16_to_cpu(req->wIndex);
#if 0 /* hided by tf, for reason that "bus_id" isn't supported in kernel2.6.31 */
uinfo("reset_device (port %d) to %s\n", index, urb->dev->dev.bus_id);
#endif
/* all interfaces should be owned by usbip driver, so just reset it. */
ret = usb_lock_device_for_reset(urb->dev, NULL);
if (ret < 0) {
uerr("lock for reset\n");
return ret;
}
#if 0 /* hided it temporarily */
/* try to reset the device */
ret = usb_reset_composite_device(urb->dev, NULL);
if (ret < 0)
uerr("device reset\n");
#endif
usb_unlock_device(urb->dev);
return ret;
}
static int valid_args(__u32 rhport, __u32 busnum, __u32 devnum,
enum usb_device_speed speed)
{
/* check rhport */
if ((rhport < 0) || (rhport >= VHCI_NPORTS)) {
uerr("port %u\n", rhport);
return -EINVAL;
}
/* check busnum & devnum */
if ((busnum <= 0) || (busnum >= 128) || (devnum <= 0) || (devnum >= 128)) {
uerr("busnum %u devnum %u\n", busnum, devnum);
return -EINVAL;
}
/* check speed */
switch(speed) {
case USB_SPEED_LOW:
case USB_SPEED_FULL:
case USB_SPEED_HIGH:
case USB_SPEED_VARIABLE:
break;
default:
uerr("speed %d\n", speed);
return -EINVAL;
}
return 0;
}
static int tweak_reset_device_cmd(struct urb *urb)
{
struct usb_ctrlrequest *req;
__u16 value;
__u16 index;
int ret;
req = (struct usb_ctrlrequest *) urb->setup_packet;
value = le16_to_cpu(req->wValue);
index = le16_to_cpu(req->wIndex);
uinfo("reset_device (port %d) to %s\n", index, urb->dev->dev.bus->name);
/* all interfaces should be owned by usbip driver, so just reset it. */
ret = usb_lock_device_for_reset(urb->dev, NULL);
if (ret < 0) {
uerr("lock for reset\n");
return ret;
}
/* try to reset the device */
ret = usb_reset_device(urb->dev);
if (ret < 0)
uerr("device reset\n");
usb_unlock_device(urb->dev);
return ret;
}
ssize_t socket_to_addrstr(struct socket *socket, char *buf)
{
struct sockaddr uaddr;
int uaddrlen;
int ret;
ret = socket->ops->getname(socket, &uaddr, &uaddrlen, 1);
if (ret) {
uerr("getname failed, socket %p\n", socket);
return ret;
}
if (uaddr.sa_family == AF_INET) {
struct sockaddr_in *v4addr = (struct sockaddr_in *) &uaddr;
ret = sprintf(buf, "%u.%u.%u.%u", NIPQUAD(v4addr->sin_addr.s_addr));
} else if (uaddr.sa_family == AF_INET6) {
struct sockaddr_in6 *v6addr = (struct sockaddr_in6 *) &uaddr;
ret = sprintf(buf, "%04x:%04x:%04x:%04x:%04x:%04x:%04x:%04x",
NIP6(v6addr->sin6_addr));
} else {
uerr("unknown sa_family %d\n", uaddr.sa_family);
ret = -1;
}
return ret;
}
/* recv a pdu */
static void stub_rx_pdu(struct usbip_device *ud)
{
int ret;
struct usbip_header pdu;
struct stub_device *sdev = container_of(ud, struct stub_device, ud);
dbg_stub_rx("Enter\n");
memset(&pdu, 0, sizeof(pdu));
/* 1. receive a pdu header */
dbg_stub_rx("before usbip_xmit\n");
ret = usbip_xmit(0, ud->tcp_socket, (char *) &pdu, sizeof(pdu), 0);
dbg_stub_rx("after usbip_xmit\n");
if (ret != sizeof(pdu)) {
uerr("recv a header, %d\n", ret);
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
usbip_header_correct_endian(&pdu, 0);
if (dbg_flag_stub_rx)
usbip_dump_header(&pdu);
if (!valid_request(sdev, &pdu)) {
uerr("recv invalid request\n");
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
#if CLIENT > 2
sdev->heartbeat_pending = 0;
#endif
switch (pdu.base.command) {
case USBIP_CMD_UNLINK:
stub_recv_cmd_unlink(sdev, &pdu);
break;
case USBIP_CMD_SUBMIT:
stub_recv_cmd_submit(sdev, &pdu);
break;
#if CLIENT > 2
// added by tf, 110530
case USBIP_HEARTBEAT_REPLY:
sdev->heartbeat_pending = 0;
break;
// end --- added
#endif
default:
/* NOTREACHED */
uerr("unknown pdu\n");
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
}
static int get_pipe(struct stub_device *sdev, int epnum, int dir)
{
struct usb_device *udev = interface_to_usbdev(sdev->interface);
struct usb_host_endpoint *ep;
struct usb_endpoint_descriptor *epd = NULL;
ep = get_ep_from_epnum(udev, epnum);
if (!ep) {
uerr("no such endpoint?, %d", epnum);
BUG();
}
epd = &ep->desc;
#if 0
/* epnum 0 is always control */
if (epnum == 0) {
if (dir == USBIP_DIR_OUT)
return usb_sndctrlpipe(udev, 0);
else
return usb_rcvctrlpipe(udev, 0);
}
#endif
if (usb_endpoint_xfer_control(epd)) {
if (dir == USBIP_DIR_OUT)
return usb_sndctrlpipe(udev, epnum);
else
return usb_rcvctrlpipe(udev, epnum);
}
if (usb_endpoint_xfer_bulk(epd)) {
if (dir == USBIP_DIR_OUT)
return usb_sndbulkpipe(udev, epnum);
else
return usb_rcvbulkpipe(udev, epnum);
}
if (usb_endpoint_xfer_int(epd)) {
if (dir == USBIP_DIR_OUT)
return usb_sndintpipe(udev, epnum);
else
return usb_rcvintpipe(udev, epnum);
}
if (usb_endpoint_xfer_isoc(epd)) {
if (dir == USBIP_DIR_OUT)
return usb_sndisocpipe(udev, epnum);
else
return usb_rcvisocpipe(udev, epnum);
}
/* NOT REACHED */
uerr("get pipe, epnum %d\n", epnum);
return 0;
}
void worhp_disp(int mode, const char message[]) {
if (mode & WORHP_PRINT_MESSAGE) {
uout() << message << std::endl;
}
if (mode & WORHP_PRINT_WARNING) {
uerr() << message << std::endl;
}
if (mode & WORHP_PRINT_ERROR) {
uerr() << message << std::endl;
}
}
int stm32_usbhost_initialize(void)
{
int pid;
int ret;
/* First, register all of the class drivers needed to support the drivers
* that we care about:
*/
uinfo("Register class drivers\n");
#ifdef CONFIG_USBHOST_MSC
/* Register the USB mass storage class class */
ret = usbhost_msc_initialize();
if (ret != OK)
{
uerr("ERROR: Failed to register the mass storage class: %d\n", ret);
}
#endif
#ifdef CONFIG_USBHOST_CDCACM
/* Register the CDC/ACM serial class */
ret = usbhost_cdcacm_initialize();
if (ret != OK)
{
uerr("ERROR: Failed to register the CDC/ACM serial class: %d\n", ret);
}
#endif
/* Then get an instance of the USB host interface */
uinfo("Initialize USB host\n");
g_usbconn = stm32_otgfshost_initialize(0);
if (g_usbconn)
{
/* Start a thread to handle device connection. */
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}
return -ENODEV;
}
/* recv a pdu */
static void stub_rx_pdu(struct usbip_device *ud)
{
int ret;
struct usbip_header pdu;
struct stub_device *sdev = container_of(ud, struct stub_device, ud);
dbg_stub_rx("Enter\n");
memset(&pdu, 0, sizeof(pdu));
/* 1. receive a pdu header */
ret = usbip_xmit(0, ud->tcp_socket, (char *) &pdu, sizeof(pdu),0);
if (ret != sizeof(pdu)) {
uerr("recv a header, %d\n", ret);
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
usbip_header_correct_endian(&pdu, 0);
if (dbg_flag_stub_rx)
usbip_dump_header(&pdu);
if (!valid_request(sdev, &pdu)) {
uerr("recv invalid request\n");
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
switch (pdu.base.command) {
case USBIP_CMD_UNLINK:
stub_recv_cmd_unlink(sdev, &pdu);
break;
case USBIP_CMD_SUBMIT:
stub_recv_cmd_submit(sdev, &pdu);
break;
default:
/* NOTREACHED */
uerr("unknown pdu\n");
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
return;
}
}
static struct stub_priv *stub_priv_alloc(struct stub_device *sdev,
struct usbip_header *pdu)
{
struct stub_priv *priv;
struct usbip_device *ud = &sdev->ud;
unsigned long flags;
spin_lock_irqsave(&sdev->priv_lock, flags);
priv = kmem_cache_alloc(stub_priv_cache, GFP_ATOMIC);
if (!priv) {
uerr("alloc stub_priv\n");
spin_unlock_irqrestore(&sdev->priv_lock, flags);
usbip_event_add(ud, SDEV_EVENT_ERROR_MALLOC);
return NULL;
}
memset(priv, 0, sizeof(struct stub_priv));
priv->seqnum = pdu->base.seqnum;
priv->sdev = sdev;
/*
* After a stub_priv is linked to a list_head,
* our error handler can free allocated data.
*/
list_add_tail(&priv->list, &sdev->priv_init);
spin_unlock_irqrestore(&sdev->priv_lock, flags);
return priv;
}
static int vhci_port_disconnect(__u32 rhport)
{
struct vhci_device *vdev;
dbg_vhci_sysfs("enter\n");
/* lock */
spin_lock(&the_controller->lock);
vdev = port_to_vdev(rhport);
spin_lock(&vdev->ud.lock);
if (vdev->ud.status == VDEV_ST_NULL) {
uerr("not connected %d\n", vdev->ud.status);
/* unlock */
spin_unlock(&vdev->ud.lock);
spin_unlock(&the_controller->lock);
return -EINVAL;
}
/* unlock */
spin_unlock(&vdev->ud.lock);
spin_unlock(&the_controller->lock);
usbip_event_add(&vdev->ud, VDEV_EVENT_DOWN);
return 0;
}
void BonminInterface::
finalize_solution(BonminMemory* m, TMINLP::SolverReturn status,
const double* x, double obj_value) const {
try {
// Get primal solution
casadi_copy(x, nx_, m->x);
// Get optimal cost
m->f = obj_value;
// Dual solution not calculated
casadi_fill(m->lam_x, nx_, nan);
casadi_fill(m->lam_g, ng_, nan);
// Get the constraints
casadi_fill(m->gk, ng_, nan);
// Get statistics
m->iter_count = 0;
// Interpret return code
m->return_status = return_status_string(status);
m->success = status==Bonmin::TMINLP::SUCCESS;
} catch(exception& ex) {
uerr() << "finalize_solution failed: " << ex.what() << endl;
}
}
bool BonminInterface::
get_starting_point(BonminMemory* m, bool init_x, double* x,
bool init_z, double* z_L, double* z_U,
bool init_lambda, double* lambda) const {
try {
// Initialize primal variables
if (init_x) {
casadi_copy(m->x, nx_, x);
}
// Initialize dual variables (simple bounds)
if (init_z) {
for (casadi_int i=0; i<nx_; ++i) {
z_L[i] = max(0., -m->lam_x[i]);
z_U[i] = max(0., m->lam_x[i]);
}
}
// Initialize dual variables (nonlinear bounds)
if (init_lambda) {
casadi_copy(m->lam_g, ng_, lambda);
}
return true;
} catch(exception& ex) {
uerr() << "get_starting_point failed: " << ex.what() << endl;
return false;
}
}
static int board_mscclassobject(int minor,
FAR struct usbdev_devinfo_s *devinfo,
FAR struct usbdevclass_driver_s **classdev)
{
int ret;
DEBUGASSERT(g_mschandle == NULL);
/* Configure the mass storage device */
uinfo("Configuring with NLUNS=1\n");
ret = usbmsc_configure(1, &g_mschandle);
if (ret < 0)
{
uerr("ERROR: usbmsc_configure failed: %d\n", -ret);
return ret;
}
uinfo("MSC handle=%p\n", g_mschandle);
/* Bind the LUN(s) */
uinfo("Bind LUN=0 to /dev/mmcsd0\n");
ret = usbmsc_bindlun(g_mschandle, "/dev/mmcsd0", 0, 0, 0, false);
if (ret < 0)
{
uerr("ERROR: usbmsc_bindlun failed for LUN 1 at /dev/mmcsd0: %d\n",
ret);
usbmsc_uninitialize(g_mschandle);
g_mschandle = NULL;
return ret;
}
/* Get the mass storage device's class object */
ret = usbmsc_classobject(g_mschandle, devinfo, classdev);
if (ret < 0)
{
uerr("ERROR: usbmsc_classobject failed: %d\n", -ret);
usbmsc_uninitialize(g_mschandle);
g_mschandle = NULL;
}
return ret;
}
static int event_handler(struct usbip_device *ud)
{
dbg_eh("enter\n");
/*
* Events are handled by only this thread.
*/
while ( usbip_event_happend(ud) ) {
dbg_eh("pending event %lx\n", ud->event);
/*
* NOTE: shutdown must come first.
* Shutdown the device.
*/
if (ud->event & USBIP_EH_SHUTDOWN) {
ud->eh_ops.shutdown(ud);
ud->event &= ~USBIP_EH_SHUTDOWN;
break;
}
/* Stop the error handler. */
if (ud->event & USBIP_EH_BYE)
return -1;
/* Reset the device. */
if (ud->event & USBIP_EH_RESET) {
ud->eh_ops.reset(ud);
ud->event &= ~USBIP_EH_RESET;
break;
}
/* Mark the device as unusable. */
if (ud->event & USBIP_EH_UNUSABLE) {
ud->eh_ops.unusable(ud);
ud->event &= ~USBIP_EH_UNUSABLE;
break;
}
/* NOTREACHED */
uerr("unknown event\n");
return -1;
}
return 0;
}
int set_sockaddr(struct socket *socket, struct sockaddr_storage *ss)
{
int addrlen;
int ret;
ret = socket->ops->getname(socket, (struct sockaddr *) ss, &addrlen, 1);
if (ret) {
uerr("getname failed, socket %p\n", socket);
return ret;
}
return ret;
}
bool BonminInterface::
get_list_of_nonlinear_variables(int num_nonlin_vars, int* pos_nonlin_vars) const {
try {
for (casadi_int i=0; i<nl_ex_.size(); ++i) {
if (nl_ex_[i]) *pos_nonlin_vars++ = i;
}
return true;
} catch(exception& ex) {
uerr() << "get_list_of_nonlinear_variables failed: " << ex.what() << endl;
return false;
}
}
bool BonminInterface::
get_bounds_info(BonminMemory* m, double* x_l, double* x_u,
double* g_l, double* g_u) const {
try {
casadi_copy(m->lbx, nx_, x_l);
casadi_copy(m->ubx, nx_, x_u);
casadi_copy(m->lbg, ng_, g_l);
casadi_copy(m->ubg, ng_, g_u);
return true;
} catch(exception& ex) {
uerr() << "get_bounds_info failed: " << ex.what() << endl;
return false;
}
}
static int tweak_reset_device_cmd(struct urb *urb)
{
struct usb_ctrlrequest *req;
__u16 value;
__u16 index;
int ret;
req = (struct usb_ctrlrequest *) urb->setup_packet;
value = le16_to_cpu(req->wValue);
index = le16_to_cpu(req->wIndex);
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,30)
uinfo("reset_device (port %d) to %s\n", index, urb->dev->dev.bus_id);
#else
uinfo("reset_device (port %d) to %s\n", index, dev_name(&urb->dev->dev));
#endif
/* all interfaces should be owned by usbip driver, so just reset it. */
ret = usb_lock_device_for_reset(urb->dev, NULL);
if (ret < 0) {
uerr("lock for reset\n");
return ret;
}
/* try to reset the device */
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,27)
ret = usb_reset_composite_device(urb->dev, NULL);
#else
ret = usb_reset_device(urb->dev);
#endif
if (ret < 0)
uerr("device reset\n");
usb_unlock_device(urb->dev);
return ret;
}
int BonminInterface::get_number_of_nonlinear_variables() const {
try {
if (!pass_nonlinear_variables_) {
// No Hessian has been interfaced
return -1;
} else {
// Number of variables that appear nonlinearily
int nv = 0;
for (auto&& i : nl_ex_) if (i) nv++;
return nv;
}
} catch(exception& ex) {
uerr() << "get_number_of_nonlinear_variables failed: " << ex.what() << endl;
return -1;
}
}
void BonminInterface::get_nlp_info(BonminMemory* m, int& nx, int& ng,
int& nnz_jac_g, int& nnz_h_lag) const {
try {
// Number of variables
nx = nx_;
// Number of constraints
ng = ng_;
// Number of Jacobian nonzeros
nnz_jac_g = ng_==0 ? 0 : jacg_sp_.nnz();
// Number of Hessian nonzeros (only upper triangular half)
nnz_h_lag = exact_hessian_ ? hesslag_sp_.nnz() : 0;
} catch(exception& ex) {
uerr() << "get_nlp_info failed: " << ex.what() << endl;
}
}
/* some members of urb must be substituted before. */
int usbip_recv_iso(struct usbip_device *ud, struct urb *urb)
{
void *buff;
struct usbip_iso_packet_descriptor *iso;
int np = urb->number_of_packets;
int size = np * sizeof(*iso);
int i;
int ret;
if (!usb_pipeisoc(urb->pipe))
return 0;
buff = kzalloc(size, GFP_KERNEL);
if (!buff)
return -ENOMEM;
ret = usbip_xmit(0, ud->tcp_socket, buff, size, 0);
if (ret != size) {
uerr("recv iso_frame_descriptor, %d\n", ret);
kfree(buff);
if (ud->side == USBIP_STUB)
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
else
usbip_event_add(ud, VDEV_EVENT_ERROR_TCP);
return -EPIPE;
}
for (i = 0; i < np; i++) {
iso = buff + (i * sizeof(*iso));
usbip_iso_pakcet_correct_endian(iso, 0);
usbip_pack_iso(iso, &urb->iso_frame_desc[i], 0);
}
kfree(buff);
return ret;
}
struct socket *sockfd_to_socket(unsigned int sockfd)
{
struct socket *socket;
struct file *file;
struct inode *inode;
file = fget(sockfd);
if (!file) {
uerr("invalid sockfd\n");
return NULL;
}
inode = file->f_dentry->d_inode;
if (!inode || !S_ISSOCK(inode->i_mode))
return NULL;
socket = SOCKET_I(inode);
return socket;
}
static ssize_t store_detach(struct device *dev, struct device_attribute *attr,
const char *buf, size_t count) {
int err;
__u32 rhport = 0;
sscanf(buf, "%u", &rhport);
/* check rhport */
if (rhport >= VHCI_NPORTS) {
uerr("invalid port %u\n", rhport);
return -EINVAL;
}
err = vhci_port_disconnect(rhport);
if (err < 0) {
return -EINVAL;
}
dbg_vhci_sysfs("Leave\n");
return count;
}
/* some members of urb must be substituted before. */
int usbip_recv_xbuff(struct usbip_device *ud, struct urb *urb)
{
int ret;
int size;
if (ud->side == USBIP_STUB) {
/* stub_rx.c */
/* the direction of urb must be OUT. */
if (usb_pipein(urb->pipe))
return 0;
size = urb->transfer_buffer_length;
} else {
/* vhci_rx.c */
/* the direction of urb must be IN. */
if (usb_pipeout(urb->pipe))
return 0;
size = urb->actual_length;
}
/* no need to recv xbuff */
if (!(size > 0))
return 0;
ret = usbip_xmit(0, ud->tcp_socket, (char *) urb->transfer_buffer, size, 0);
if (ret != size) {
uerr("recv xbuf, %d\n", ret);
if (ud->side == USBIP_STUB) {
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
} else {
usbip_event_add(ud, VDEV_EVENT_ERROR_TCP);
return -EPIPE;
}
}
return ret;
}
int usbip_recv_iso(struct usbip_device *ud, struct urb *urb)
{
int ret;
char *iso_frame_desc = (char *) &urb->iso_frame_desc[0];
int np = urb->number_of_packets;
int size = np * sizeof(struct usb_iso_packet_descriptor);
if (!usb_pipeisoc(urb->pipe))
return 0;
ret = usbip_xmit(0, ud->tcp_socket, iso_frame_desc, size, 0);
if (ret != size ) {
uerr("recv iso_frame_descriptor, %d\n", ret);
if (ud->side == USBIP_STUB) {
usbip_event_add(ud, SDEV_EVENT_ERROR_TCP);
} else {
usbip_event_add(ud, VDEV_EVENT_ERROR_TCP);
}
return -EPIPE;
}
return ret;
}
int lpc31_usbhost_initialize(void)
{
pid_t pid;
int ret;
/* First, register all of the class drivers needed to support the drivers
* that we care about
*/
#ifdef CONFIG_USBHOST_HUB
/* Initialize USB hub support */
ret = usbhost_hub_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: usbhost_hub_initialize failed: %d\n", ret);
}
#endif
#ifdef CONFIG_USBHOST_MSC
/* Register theUSB host Mass Storage Class */
ret = usbhost_msc_initialize();
if (ret != OK)
{
uerr("ERROR: Failed to register the mass storage class: %d\n", ret);
}
#endif
#ifdef CONFIG_USBHOST_CDCACM
/* Register the CDC/ACM serial class */
ret = usbhost_cdcacm_initialize();
if (ret != OK)
{
uerr("ERROR: Failed to register the CDC/ACM serial class\n");
}
#endif
#ifdef CONFIG_USBHOST_HIDKBD
/* Register the USB host HID keyboard class driver */
ret = usbhost_kbdinit();
if (ret != OK)
{
uerr("ERROR: Failed to register the KBD class\n");
}
#endif
/* Then get an instance of the USB EHCI interface. */
g_ehciconn = lpc31_ehci_initialize(0);
if (!g_ehciconn)
{
uerr("ERROR: lpc31_ehci_initialize failed\n");
return -ENODEV;
}
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_USBHOST_DEFPRIO, CONFIG_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);
return -ENODEV;
}
return OK;
}
int Error::getErrorValue()
{
UerrorName uerr(error_name_);
return uerr.value;
}
void sam_usbhost_vbusdrive(int rhport, bool enable)
{
pio_pinset_t pinset = 0;
uinfo("RHPort%d: enable=%d\n", rhport+1, enable);
/* Pick the PIO configuration associated with the selected root hub port */
switch (rhport)
{
case SAM_RHPORT1:
#if !defined(CONFIG_SAMA5_UHPHS_RHPORT1)
uerr("ERROR: RHPort1 is not available in this configuration\n");
return;
#elif !defined(PIO_USBA_VBUS_ENABLE)
/* SAMA5D3-Xplained has no port A VBUS enable */
uerr("ERROR: RHPort1 has no VBUS enable\n");
return;
#else
pinset = PIO_USBA_VBUS_ENABLE;
break;
#endif
case SAM_RHPORT2:
#ifndef CONFIG_SAMA5_UHPHS_RHPORT2
uerr("ERROR: RHPort2 is not available in this configuration\n");
return;
#else
pinset = PIO_USBB_VBUS_ENABLE;
break;
#endif
case SAM_RHPORT3:
#ifndef CONFIG_SAMA5_UHPHS_RHPORT3
uerr("ERROR: RHPort3 is not available in this configuration\n");
return;
#else
pinset = PIO_USBC_VBUS_ENABLE;
break;
#endif
default:
uerr("ERROR: RHPort%d is not supported\n", rhport+1);
return;
}
/* Then enable or disable VBUS power (active low for SP2526A-2) */
if (enable)
{
/* Enable the Power Switch by driving the enable pin low */
sam_piowrite(pinset, false);
}
else
{
/* Disable the Power Switch by driving the enable pin high */
sam_piowrite(pinset, true);
}
}
bool BonminInterface::
intermediate_callback(BonminMemory* m, const double* x, const double* z_L, const double* z_U,
const double* g, const double* lambda, double obj_value, int iter,
double inf_pr, double inf_du, double mu, double d_norm,
double regularization_size, double alpha_du, double alpha_pr,
int ls_trials, bool full_callback) const {
m->n_iter += 1;
try {
if (verbose_) casadi_message("intermediate_callback started");
m->inf_pr.push_back(inf_pr);
m->inf_du.push_back(inf_du);
m->mu.push_back(mu);
m->d_norm.push_back(d_norm);
m->regularization_size.push_back(regularization_size);
m->alpha_pr.push_back(alpha_pr);
m->alpha_du.push_back(alpha_du);
m->ls_trials.push_back(ls_trials);
m->obj.push_back(obj_value);
if (!fcallback_.is_null()) {
m->fstats.at("callback_fun").tic();
if (full_callback) {
casadi_copy(x, nx_, m->x);
for (casadi_int i=0; i<nx_; ++i) {
m->lam_x[i] = z_U[i]-z_L[i];
}
casadi_copy(lambda, ng_, m->lam_g);
casadi_copy(g, ng_, m->gk);
} else {
if (iter==0) {
uerr()
<< "Warning: intermediate_callback is disfunctional in your installation. "
"You will only be able to use stats(). "
"See https://github.com/casadi/casadi/wiki/enableBonminCallback to enable it."
<< endl;
}
}
// Inputs
fill_n(m->arg, fcallback_.n_in(), nullptr);
if (full_callback) {
// The values used below are meaningless
// when not doing a full_callback
m->arg[NLPSOL_X] = x;
m->arg[NLPSOL_F] = &obj_value;
m->arg[NLPSOL_G] = g;
m->arg[NLPSOL_LAM_P] = nullptr;
m->arg[NLPSOL_LAM_X] = m->lam_x;
m->arg[NLPSOL_LAM_G] = m->lam_g;
}
// Outputs
fill_n(m->res, fcallback_.n_out(), nullptr);
double ret_double;
m->res[0] = &ret_double;
fcallback_(m->arg, m->res, m->iw, m->w, 0);
int ret = static_cast<int>(ret_double);
m->fstats.at("callback_fun").toc();
return !ret;
} else {
return 1;
}
} catch(KeyboardInterruptException& ex) {
return 0;
} catch(exception& ex) {
if (iteration_callback_ignore_errors_) {
uerr() << "intermediate_callback: " << ex.what() << endl;
return 1;
}
return 0;
}
}
