57 files changed, 15648 insertions, 15648 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index 8dc09f7..ec524ac 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -1,21 +1,21 @@
 include ${CHIBIOS}/os/hal/hal.mk

 

 HALSRC += ${CHIBIOS_CONTRIB}/os/hal/src/hal_community.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/nand.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/onewire.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/eicu.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/crc.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/rng.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_debug.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_desciter.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_hub.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_msd.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_ftdi.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_uvc.c \

-	      ${CHIBIOS_CONTRIB}/os/hal/src/ee24xx.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/ee25xx.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/eeprom.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/timcap.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_nand.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_onewire.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_eicu.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_crc.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_rng.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_usbh.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_debug.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_desciter.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_hub.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_msd.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_ftdi.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/usbh/hal_usbh_uvc.c \

+	      ${CHIBIOS_CONTRIB}/os/hal/src/hal_ee24xx.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_ee25xx.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_eeprom.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_timcap.c \

 

 HALINC += ${CHIBIOS_CONTRIB}/os/hal/include

diff --git a/os/hal/include/hal_community.h b/os/hal/include/hal_community.h
index 144e495..6420964 100644
--- a/os/hal/include/hal_community.h
+++ b/os/hal/include/hal_community.h
@@ -30,16 +30,16 @@
 /* Shared headers.*/

 

 /* Normal drivers.*/

-#include "nand.h"

-#include "eicu.h"

-#include "rng.h"

-#include "usbh.h"

-#include "timcap.h"

+#include "hal_nand.h"

+#include "hal_eicu.h"

+#include "hal_rng.h"

+#include "hal_usbh.h"

+#include "hal_timcap.h"

 

 /* Complex drivers.*/

-#include "onewire.h"

-#include "crc.h"

-#include "eeprom.h"

+#include "hal_onewire.h"

+#include "hal_crc.h"

+#include "hal_eeprom.h"

 

 /*===========================================================================*/

 /* Driver constants.                                                         */

diff --git a/os/hal/include/crc.h b/os/hal/include/hal_crc.h
index afa27e1..8c4c895 100644
--- a/os/hal/include/crc.h
+++ b/os/hal/include/hal_crc.h
@@ -72,7 +72,7 @@ typedef enum {
   CRC_COMPLETE               /* Asynchronous operation complete.           */
 } crcstate_t;
 
-#include "crc_lld.h"
+#include "hal_crc_lld.h"
 #include "crcsw.h" /* Include software LL driver */
 
 
diff --git a/os/hal/include/ee24xx.h b/os/hal/include/hal_ee24xx.h
index ab12fd1..ab12fd1 100644
--- a/os/hal/include/ee24xx.h
+++ b/os/hal/include/hal_ee24xx.h
diff --git a/os/hal/include/ee25xx.h b/os/hal/include/hal_ee25xx.h
index fc2ad6f..fc2ad6f 100644
--- a/os/hal/include/ee25xx.h
+++ b/os/hal/include/hal_ee25xx.h
diff --git a/os/hal/include/eeprom.h b/os/hal/include/hal_eeprom.h
index b0fd360..b0fd360 100644
--- a/os/hal/include/eeprom.h
+++ b/os/hal/include/hal_eeprom.h
diff --git a/os/hal/include/eicu.h b/os/hal/include/hal_eicu.h
index d9e08de..d4b0ed2 100644
--- a/os/hal/include/eicu.h
+++ b/os/hal/include/hal_eicu.h
@@ -90,7 +90,7 @@ typedef struct EICUDriver EICUDriver;
 typedef void (*eicucallback_t)(EICUDriver *eicup, eicuchannel_t channel,
                                uint32_t width, uint32_t period);
 
-#include "eicu_lld.h"
+#include "hal_eicu_lld.h"
 
 /*===========================================================================*/
 /* Driver macros.                                                            */
diff --git a/os/hal/include/nand.h b/os/hal/include/hal_nand.h
index ffd5de7..d5a1c04 100644
--- a/os/hal/include/nand.h
+++ b/os/hal/include/hal_nand.h
@@ -89,7 +89,7 @@ typedef enum {
  */
 typedef struct NANDDriver NANDDriver;
 
-#include "nand_lld.h"
+#include "hal_nand_lld.h"
 
 /*===========================================================================*/
 /* Driver macros.                                                            */
diff --git a/os/hal/include/onewire.h b/os/hal/include/hal_onewire.h
index 2d27f48..2d27f48 100644
--- a/os/hal/include/onewire.h
+++ b/os/hal/include/hal_onewire.h
diff --git a/os/hal/include/rng.h b/os/hal/include/hal_rng.h
index 4730f7b..4730f7b 100644
--- a/os/hal/include/rng.h
+++ b/os/hal/include/hal_rng.h
diff --git a/os/hal/include/timcap.h b/os/hal/include/hal_timcap.h
index a848783..a848783 100644
--- a/os/hal/include/timcap.h
+++ b/os/hal/include/hal_timcap.h
diff --git a/os/hal/include/usbh.h b/os/hal/include/hal_usbh.h
index 2f8f3dd..8029be8 100644
--- a/os/hal/include/usbh.h
+++ b/os/hal/include/hal_usbh.h
@@ -1,439 +1,439 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#ifndef USBH_H_

-#define USBH_H_

-

-#include "hal.h"

-

-#ifndef HAL_USE_USBH

-#define HAL_USE_USBH FALSE

-#endif

-

-#ifndef HAL_USBH_USE_FTDI

-#define HAL_USBH_USE_FTDI FALSE

-#endif

-

-#ifndef HAL_USBH_USE_HUB

-#define HAL_USBH_USE_HUB FALSE

-#endif

-

-#ifndef HAL_USBH_USE_MSD

-#define HAL_USBH_USE_MSD FALSE

-#endif

-

-#ifndef HAL_USBH_USE_UVC

-#define HAL_USBH_USE_UVC FALSE

-#endif

-

-#if HAL_USE_USBH

-

-#include "osal.h"

-#include "usbh/list.h"

-#include "usbh/defs.h"

-

-/* TODO:

- *

- * - Integrate VBUS power switching functionality to the API.

- *

- */

-

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-#if !HAL_USBH_USE_HUB

-#define USBH_MAX_ADDRESSES				1

-#else

-#define USBH_MAX_ADDRESSES				(HAL_USBHHUB_MAX_PORTS + 1)

-#endif

-

-enum usbh_status {

-	USBH_STATUS_STOPPED = 0,

-	USBH_STATUS_STARTED,

-	USBH_STATUS_SUSPENDED,

-};

-

-enum usbh_devstatus {

-	USBH_DEVSTATUS_DISCONNECTED = 0,

-	USBH_DEVSTATUS_ATTACHED,

-	USBH_DEVSTATUS_CONNECTED,

-	USBH_DEVSTATUS_DEFAULT,

-	USBH_DEVSTATUS_ADDRESS,

-	USBH_DEVSTATUS_CONFIGURED,

-};

-

-enum usbh_devspeed {

-	USBH_DEVSPEED_LOW = 0,

-	USBH_DEVSPEED_FULL,

-	USBH_DEVSPEED_HIGH,

-};

-

-enum usbh_epdir {

-	USBH_EPDIR_IN		= 0x80,

-	USBH_EPDIR_OUT		= 0

-};

-

-enum usbh_eptype {

-	USBH_EPTYPE_CTRL	= 0,

-	USBH_EPTYPE_ISO		= 1,

-	USBH_EPTYPE_BULK	= 2,

-	USBH_EPTYPE_INT		= 3,

-};

-

-enum usbh_epstatus {

-	USBH_EPSTATUS_UNINITIALIZED = 0,

-	USBH_EPSTATUS_CLOSED,

-	USBH_EPSTATUS_OPEN,

-	USBH_EPSTATUS_HALTED,

-};

-

-enum usbh_urbstatus {

-	USBH_URBSTATUS_UNINITIALIZED = 0,

-	USBH_URBSTATUS_INITIALIZED,

-	USBH_URBSTATUS_PENDING,

-//	USBH_URBSTATUS_QUEUED,

-	USBH_URBSTATUS_ERROR,

-	USBH_URBSTATUS_TIMEOUT,

-	USBH_URBSTATUS_CANCELLED,

-	USBH_URBSTATUS_STALL,

-	USBH_URBSTATUS_DISCONNECTED,

-//	USBH_URBSTATUS_EPCLOSED,

-	USBH_URBSTATUS_OK,

-};

-

-/*===========================================================================*/

-/* Driver data structures and types.                                         */

-/*===========================================================================*/

-

-/* forward declarations */

-typedef struct USBHDriver USBHDriver;

-typedef struct usbh_port usbh_port_t;

-typedef	struct usbh_device usbh_device_t;

-typedef struct usbh_ep usbh_ep_t;

-typedef struct usbh_urb usbh_urb_t;

-typedef struct usbh_baseclassdriver usbh_baseclassdriver_t;

-typedef struct usbh_classdriverinfo usbh_classdriverinfo_t;

-#if HAL_USBH_USE_HUB

-typedef struct USBHHubDriver USBHHubDriver;

-#endif

-

-/* typedefs */

-typedef enum usbh_status usbh_status_t;

-typedef enum usbh_devspeed usbh_devspeed_t;

-typedef enum usbh_devstatus usbh_devstatus_t;

-typedef enum usbh_epdir usbh_epdir_t;

-typedef enum usbh_eptype usbh_eptype_t;

-typedef enum usbh_epstatus usbh_epstatus_t;

-typedef enum usbh_urbstatus usbh_urbstatus_t;

-typedef uint16_t usbh_portstatus_t;

-typedef uint16_t usbh_portcstatus_t;

-typedef void (*usbh_completion_cb)(usbh_urb_t *);

-

-/* include the low level driver; the required definitions are above */

-#include "usbh_lld.h"

-

-#define USBH_DEFINE_BUFFER(type, name)	USBH_LLD_DEFINE_BUFFER(type, name)

-

-struct usbh_urb {

-	usbh_ep_t *ep;

-

-	void *userData;

-	usbh_completion_cb callback;

-

-	const void *setup_buff;

-	void *buff;

-	uint32_t requestedLength;

-	uint32_t actualLength;

-

-	usbh_urbstatus_t status;

-

-	thread_reference_t waitingThread;

-	thread_reference_t abortingThread;

-

-	/* Low level part */

-	_usbh_urb_ll_data

-};

-

-struct usbh_ep {

-	usbh_device_t		*device;

-	usbh_ep_t	 		*next;

-

-	usbh_epstatus_t		status;

-	uint8_t 			address;

-	bool				in;

-	usbh_eptype_t		type;

-	uint16_t			wMaxPacketSize;

-	uint8_t				bInterval;

-

-	/* debug */

-	const char			*name;

-

-	/* Low-level part */

-	_usbh_ep_ll_data

-};

-

-struct usbh_device {

-	USBHDriver *host;	/* shortcut to host */

-

-	usbh_ep_t ctrl;

-	usbh_ep_t *endpoints;

-

-	usbh_baseclassdriver_t *drivers;

-

-	uint16_t langID0;

-

-	usbh_devstatus_t status;

-	usbh_devspeed_t speed;

-

-	USBH_DEFINE_BUFFER(usbh_device_descriptor_t, devDesc);

-	unsigned char align_bytes[2];

-	USBH_DEFINE_BUFFER(usbh_config_descriptor_t, basicConfigDesc);

-

-	uint8_t *fullConfigurationDescriptor;

-	uint8_t keepFullCfgDesc;

-

-	uint8_t address;

-	uint8_t bConfiguration;

-

-	/* Low level part */

-	_usbh_device_ll_data

-};

-

-

-struct usbh_port {

-#if HAL_USBH_USE_HUB

-	USBHHubDriver *hub;

-#endif

-

-	usbh_portstatus_t status;

-	usbh_portcstatus_t c_status;

-

-	usbh_port_t *next;

-

-	uint8_t number;

-

-	usbh_device_t device;

-

-	/* Low level part */

-	_usbh_port_ll_data

-};

-

-struct USBHDriver {

-	usbh_status_t status;

-	uint8_t address_bitmap[(USBH_MAX_ADDRESSES + 7) / 8];

-

-	usbh_port_t rootport;

-

-#if HAL_USBH_USE_HUB

-	struct list_head hubs;

-#endif

-

-	/* Low level part */

-	_usbhdriver_ll_data

-

-#if USBH_DEBUG_ENABLE

-	/* debug */

-	uint8_t dbg_buff[USBH_DEBUG_BUFFER];

-	THD_WORKING_AREA(waDebug, 512);

-	input_queue_t iq;

-#endif

-};

-

-

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-#if STM32_USBH_USE_OTG1

-extern USBHDriver USBHD1;

-#endif

-

-#if STM32_USBH_USE_OTG2

-extern USBHDriver USBHD2;

-#endif

-

-

-/*===========================================================================*/

-/* Main driver API.		                                                     */

-/*===========================================================================*/

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-

-	/* Main functions */

-	void usbhObjectInit(USBHDriver *usbh);

-	void usbhInit(void);

-	void usbhStart(USBHDriver *usbh);

-	void usbhStop(USBHDriver *usbh);

-	void usbhSuspend(USBHDriver *usbh);

-	void usbhResume(USBHDriver *usbh);

-

-	/* Device-related */

-#if	USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO

-	void usbhDevicePrintInfo(usbh_device_t *dev);

-	void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem);

-#else

-#	define usbhDevicePrintInfo(dev) do {} while(0)

-#	define usbhDevicePrintConfiguration(descriptor, rem) do {} while(0)

-#endif

-	bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,

-			uint8_t index, uint16_t langID);

-	static inline usbh_port_t *usbhDeviceGetPort(usbh_device_t *dev) {

-		return container_of(dev, usbh_port_t, device);

-	}

-

-	/* Synchronous API */

-	usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,

-			void *data,

-			uint32_t len,

-			uint32_t *actual_len,

-			systime_t timeout);

-	usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,

-			uint8_t bmRequestType,

-			uint8_t bRequest,

-			uint16_t wValue,

-			uint16_t wIndex,

-			uint16_t wLength,

-			uint8_t *buff);

-	usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,

-			const usbh_control_request_t *req,

-			uint8_t *buff,

-			uint32_t *actual_len,

-			systime_t timeout);

-

-	/* Standard request helpers */

-	bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,

-			uint16_t wLength,

-			uint8_t *buf);

-	bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,

-			uint8_t index,

-			uint16_t wLength,

-			uint8_t *buf);

-	bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,

-			uint8_t index,

-			uint16_t langID,

-			uint16_t wLength,

-			uint8_t *buf);

-	bool usbhStdReqSetInterface(usbh_device_t *dev,

-			uint8_t bInterfaceNumber,

-			uint8_t bAlternateSetting);

-	bool usbhStdReqGetInterface(usbh_device_t *dev,

-			uint8_t bInterfaceNumber,

-			uint8_t *bAlternateSetting);

-

-	/* Endpoint/pipe management */

-	void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc);

-	static inline void usbhEPOpen(usbh_ep_t *ep) {

-		osalDbgCheck(ep != 0);

-		osalSysLock();

-		osalDbgAssert(ep->status == USBH_EPSTATUS_CLOSED, "invalid state");

-		usbh_lld_ep_open(ep);

-		ep->next = ep->device->endpoints;

-		ep->device->endpoints = ep;

-		osalSysUnlock();

-	}

-	static inline void usbhEPCloseS(usbh_ep_t *ep) {

-		osalDbgCheck(ep != 0);

-		osalDbgCheckClassS();

-		osalDbgAssert(ep->status != USBH_EPSTATUS_UNINITIALIZED, "invalid state");

-		if (ep->status == USBH_EPSTATUS_CLOSED) {

-			osalOsRescheduleS();

-			return;

-		}

-		usbh_lld_ep_close(ep);

-	}

-	static inline void usbhEPClose(usbh_ep_t *ep) {

-		osalSysLock();

-		usbhEPCloseS(ep);

-		osalSysUnlock();

-	}

-	static inline void usbhEPResetI(usbh_ep_t *ep) {

-		osalDbgCheckClassI();

-		osalDbgCheck(ep != NULL);

-		usbh_lld_epreset(ep);

-	}

-	static inline bool usbhEPIsPeriodic(usbh_ep_t *ep) {

-		osalDbgCheck(ep != NULL);

-		return (ep->type & 1) != 0;

-	}

-	static inline bool usbhURBIsBusy(usbh_urb_t *urb) {

-		osalDbgCheck(urb != NULL);

-		return (urb->status == USBH_URBSTATUS_PENDING);

-	}

-	static inline void usbhEPSetName(usbh_ep_t *ep, const char *name) {

-		ep->name = name;

-	}

-

-	/* URB management */

-	void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,

-			void *user, void *buff, uint32_t len);

-	void usbhURBObjectResetI(usbh_urb_t *urb);

-	void usbhURBSubmitI(usbh_urb_t *urb);

-	bool usbhURBCancelI(usbh_urb_t *urb);

-	msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout);

-	void usbhURBCancelAndWaitS(usbh_urb_t *urb);

-	msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout);

-

-	/* Main loop */

-	void usbhMainLoop(USBHDriver *usbh);

-

-#ifdef __cplusplus

-}

-#endif

-

-

-/*===========================================================================*/

-/* Class driver definitions and API.                                         */

-/*===========================================================================*/

-

-typedef struct usbh_classdriver_vmt usbh_classdriver_vmt_t;

-struct usbh_classdriver_vmt {

-	usbh_baseclassdriver_t *(*load)(usbh_device_t *dev,	const uint8_t *descriptor, uint16_t rem);

-	void (*unload)(usbh_baseclassdriver_t *drv);

-};

-

-struct usbh_classdriverinfo {

-	int16_t class;

-	int16_t subclass;

-	int16_t protocol;

-	const char *name;

-	const usbh_classdriver_vmt_t *vmt;

-};

-

-#define _usbh_base_classdriver_data		\

-	const usbh_classdriverinfo_t *info;	\

-	usbh_device_t *dev;					\

-	usbh_baseclassdriver_t *next;

-

-struct usbh_baseclassdriver {

-	_usbh_base_classdriver_data

-};

-

-

-/*===========================================================================*/

-/* Helper functions.				                                         */

-/*===========================================================================*/

-#include <usbh/desciter.h>	/* descriptor iterators */

-#include <usbh/debug.h>		/* debug */

-

-#endif

-

-#endif /* USBH_H_ */

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef USBH_H_
+#define USBH_H_
+
+#include "hal.h"
+
+#ifndef HAL_USE_USBH
+#define HAL_USE_USBH FALSE
+#endif
+
+#ifndef HAL_USBH_USE_FTDI
+#define HAL_USBH_USE_FTDI FALSE
+#endif
+
+#ifndef HAL_USBH_USE_HUB
+#define HAL_USBH_USE_HUB FALSE
+#endif
+
+#ifndef HAL_USBH_USE_MSD
+#define HAL_USBH_USE_MSD FALSE
+#endif
+
+#ifndef HAL_USBH_USE_UVC
+#define HAL_USBH_USE_UVC FALSE
+#endif
+
+#if HAL_USE_USBH
+
+#include "osal.h"
+#include "usbh/list.h"
+#include "usbh/defs.h"
+
+/* TODO:
+ *
+ * - Integrate VBUS power switching functionality to the API.
+ *
+ */
+
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !HAL_USBH_USE_HUB
+#define USBH_MAX_ADDRESSES				1
+#else
+#define USBH_MAX_ADDRESSES				(HAL_USBHHUB_MAX_PORTS + 1)
+#endif
+
+enum usbh_status {
+	USBH_STATUS_STOPPED = 0,
+	USBH_STATUS_STARTED,
+	USBH_STATUS_SUSPENDED,
+};
+
+enum usbh_devstatus {
+	USBH_DEVSTATUS_DISCONNECTED = 0,
+	USBH_DEVSTATUS_ATTACHED,
+	USBH_DEVSTATUS_CONNECTED,
+	USBH_DEVSTATUS_DEFAULT,
+	USBH_DEVSTATUS_ADDRESS,
+	USBH_DEVSTATUS_CONFIGURED,
+};
+
+enum usbh_devspeed {
+	USBH_DEVSPEED_LOW = 0,
+	USBH_DEVSPEED_FULL,
+	USBH_DEVSPEED_HIGH,
+};
+
+enum usbh_epdir {
+	USBH_EPDIR_IN		= 0x80,
+	USBH_EPDIR_OUT		= 0
+};
+
+enum usbh_eptype {
+	USBH_EPTYPE_CTRL	= 0,
+	USBH_EPTYPE_ISO		= 1,
+	USBH_EPTYPE_BULK	= 2,
+	USBH_EPTYPE_INT		= 3,
+};
+
+enum usbh_epstatus {
+	USBH_EPSTATUS_UNINITIALIZED = 0,
+	USBH_EPSTATUS_CLOSED,
+	USBH_EPSTATUS_OPEN,
+	USBH_EPSTATUS_HALTED,
+};
+
+enum usbh_urbstatus {
+	USBH_URBSTATUS_UNINITIALIZED = 0,
+	USBH_URBSTATUS_INITIALIZED,
+	USBH_URBSTATUS_PENDING,
+//	USBH_URBSTATUS_QUEUED,
+	USBH_URBSTATUS_ERROR,
+	USBH_URBSTATUS_TIMEOUT,
+	USBH_URBSTATUS_CANCELLED,
+	USBH_URBSTATUS_STALL,
+	USBH_URBSTATUS_DISCONNECTED,
+//	USBH_URBSTATUS_EPCLOSED,
+	USBH_URBSTATUS_OK,
+};
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/* forward declarations */
+typedef struct USBHDriver USBHDriver;
+typedef struct usbh_port usbh_port_t;
+typedef	struct usbh_device usbh_device_t;
+typedef struct usbh_ep usbh_ep_t;
+typedef struct usbh_urb usbh_urb_t;
+typedef struct usbh_baseclassdriver usbh_baseclassdriver_t;
+typedef struct usbh_classdriverinfo usbh_classdriverinfo_t;
+#if HAL_USBH_USE_HUB
+typedef struct USBHHubDriver USBHHubDriver;
+#endif
+
+/* typedefs */
+typedef enum usbh_status usbh_status_t;
+typedef enum usbh_devspeed usbh_devspeed_t;
+typedef enum usbh_devstatus usbh_devstatus_t;
+typedef enum usbh_epdir usbh_epdir_t;
+typedef enum usbh_eptype usbh_eptype_t;
+typedef enum usbh_epstatus usbh_epstatus_t;
+typedef enum usbh_urbstatus usbh_urbstatus_t;
+typedef uint16_t usbh_portstatus_t;
+typedef uint16_t usbh_portcstatus_t;
+typedef void (*usbh_completion_cb)(usbh_urb_t *);
+
+/* include the low level driver; the required definitions are above */
+#include "hal_usbh_lld.h"
+
+#define USBH_DEFINE_BUFFER(type, name)	USBH_LLD_DEFINE_BUFFER(type, name)
+
+struct usbh_urb {
+	usbh_ep_t *ep;
+
+	void *userData;
+	usbh_completion_cb callback;
+
+	const void *setup_buff;
+	void *buff;
+	uint32_t requestedLength;
+	uint32_t actualLength;
+
+	usbh_urbstatus_t status;
+
+	thread_reference_t waitingThread;
+	thread_reference_t abortingThread;
+
+	/* Low level part */
+	_usbh_urb_ll_data
+};
+
+struct usbh_ep {
+	usbh_device_t		*device;
+	usbh_ep_t	 		*next;
+
+	usbh_epstatus_t		status;
+	uint8_t 			address;
+	bool				in;
+	usbh_eptype_t		type;
+	uint16_t			wMaxPacketSize;
+	uint8_t				bInterval;
+
+	/* debug */
+	const char			*name;
+
+	/* Low-level part */
+	_usbh_ep_ll_data
+};
+
+struct usbh_device {
+	USBHDriver *host;	/* shortcut to host */
+
+	usbh_ep_t ctrl;
+	usbh_ep_t *endpoints;
+
+	usbh_baseclassdriver_t *drivers;
+
+	uint16_t langID0;
+
+	usbh_devstatus_t status;
+	usbh_devspeed_t speed;
+
+	USBH_DEFINE_BUFFER(usbh_device_descriptor_t, devDesc);
+	unsigned char align_bytes[2];
+	USBH_DEFINE_BUFFER(usbh_config_descriptor_t, basicConfigDesc);
+
+	uint8_t *fullConfigurationDescriptor;
+	uint8_t keepFullCfgDesc;
+
+	uint8_t address;
+	uint8_t bConfiguration;
+
+	/* Low level part */
+	_usbh_device_ll_data
+};
+
+
+struct usbh_port {
+#if HAL_USBH_USE_HUB
+	USBHHubDriver *hub;
+#endif
+
+	usbh_portstatus_t status;
+	usbh_portcstatus_t c_status;
+
+	usbh_port_t *next;
+
+	uint8_t number;
+
+	usbh_device_t device;
+
+	/* Low level part */
+	_usbh_port_ll_data
+};
+
+struct USBHDriver {
+	usbh_status_t status;
+	uint8_t address_bitmap[(USBH_MAX_ADDRESSES + 7) / 8];
+
+	usbh_port_t rootport;
+
+#if HAL_USBH_USE_HUB
+	struct list_head hubs;
+#endif
+
+	/* Low level part */
+	_usbhdriver_ll_data
+
+#if USBH_DEBUG_ENABLE
+	/* debug */
+	uint8_t dbg_buff[USBH_DEBUG_BUFFER];
+	THD_WORKING_AREA(waDebug, 512);
+	input_queue_t iq;
+#endif
+};
+
+
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_USBH_USE_OTG1
+extern USBHDriver USBHD1;
+#endif
+
+#if STM32_USBH_USE_OTG2
+extern USBHDriver USBHD2;
+#endif
+
+
+/*===========================================================================*/
+/* Main driver API.		                                                     */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	/* Main functions */
+	void usbhObjectInit(USBHDriver *usbh);
+	void usbhInit(void);
+	void usbhStart(USBHDriver *usbh);
+	void usbhStop(USBHDriver *usbh);
+	void usbhSuspend(USBHDriver *usbh);
+	void usbhResume(USBHDriver *usbh);
+
+	/* Device-related */
+#if	USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO
+	void usbhDevicePrintInfo(usbh_device_t *dev);
+	void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem);
+#else
+#	define usbhDevicePrintInfo(dev) do {} while(0)
+#	define usbhDevicePrintConfiguration(descriptor, rem) do {} while(0)
+#endif
+	bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,
+			uint8_t index, uint16_t langID);
+	static inline usbh_port_t *usbhDeviceGetPort(usbh_device_t *dev) {
+		return container_of(dev, usbh_port_t, device);
+	}
+
+	/* Synchronous API */
+	usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,
+			void *data,
+			uint32_t len,
+			uint32_t *actual_len,
+			systime_t timeout);
+	usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,
+			uint8_t bmRequestType,
+			uint8_t bRequest,
+			uint16_t wValue,
+			uint16_t wIndex,
+			uint16_t wLength,
+			uint8_t *buff);
+	usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,
+			const usbh_control_request_t *req,
+			uint8_t *buff,
+			uint32_t *actual_len,
+			systime_t timeout);
+
+	/* Standard request helpers */
+	bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,
+			uint8_t index,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,
+			uint8_t index,
+			uint16_t langID,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqSetInterface(usbh_device_t *dev,
+			uint8_t bInterfaceNumber,
+			uint8_t bAlternateSetting);
+	bool usbhStdReqGetInterface(usbh_device_t *dev,
+			uint8_t bInterfaceNumber,
+			uint8_t *bAlternateSetting);
+
+	/* Endpoint/pipe management */
+	void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc);
+	static inline void usbhEPOpen(usbh_ep_t *ep) {
+		osalDbgCheck(ep != 0);
+		osalSysLock();
+		osalDbgAssert(ep->status == USBH_EPSTATUS_CLOSED, "invalid state");
+		usbh_lld_ep_open(ep);
+		ep->next = ep->device->endpoints;
+		ep->device->endpoints = ep;
+		osalSysUnlock();
+	}
+	static inline void usbhEPCloseS(usbh_ep_t *ep) {
+		osalDbgCheck(ep != 0);
+		osalDbgCheckClassS();
+		osalDbgAssert(ep->status != USBH_EPSTATUS_UNINITIALIZED, "invalid state");
+		if (ep->status == USBH_EPSTATUS_CLOSED) {
+			osalOsRescheduleS();
+			return;
+		}
+		usbh_lld_ep_close(ep);
+	}
+	static inline void usbhEPClose(usbh_ep_t *ep) {
+		osalSysLock();
+		usbhEPCloseS(ep);
+		osalSysUnlock();
+	}
+	static inline void usbhEPResetI(usbh_ep_t *ep) {
+		osalDbgCheckClassI();
+		osalDbgCheck(ep != NULL);
+		usbh_lld_epreset(ep);
+	}
+	static inline bool usbhEPIsPeriodic(usbh_ep_t *ep) {
+		osalDbgCheck(ep != NULL);
+		return (ep->type & 1) != 0;
+	}
+	static inline bool usbhURBIsBusy(usbh_urb_t *urb) {
+		osalDbgCheck(urb != NULL);
+		return (urb->status == USBH_URBSTATUS_PENDING);
+	}
+	static inline void usbhEPSetName(usbh_ep_t *ep, const char *name) {
+		ep->name = name;
+	}
+
+	/* URB management */
+	void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,
+			void *user, void *buff, uint32_t len);
+	void usbhURBObjectResetI(usbh_urb_t *urb);
+	void usbhURBSubmitI(usbh_urb_t *urb);
+	bool usbhURBCancelI(usbh_urb_t *urb);
+	msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout);
+	void usbhURBCancelAndWaitS(usbh_urb_t *urb);
+	msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout);
+
+	/* Main loop */
+	void usbhMainLoop(USBHDriver *usbh);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+/*===========================================================================*/
+/* Class driver definitions and API.                                         */
+/*===========================================================================*/
+
+typedef struct usbh_classdriver_vmt usbh_classdriver_vmt_t;
+struct usbh_classdriver_vmt {
+	usbh_baseclassdriver_t *(*load)(usbh_device_t *dev,	const uint8_t *descriptor, uint16_t rem);
+	void (*unload)(usbh_baseclassdriver_t *drv);
+};
+
+struct usbh_classdriverinfo {
+	int16_t class;
+	int16_t subclass;
+	int16_t protocol;
+	const char *name;
+	const usbh_classdriver_vmt_t *vmt;
+};
+
+#define _usbh_base_classdriver_data		\
+	const usbh_classdriverinfo_t *info;	\
+	usbh_device_t *dev;					\
+	usbh_baseclassdriver_t *next;
+
+struct usbh_baseclassdriver {
+	_usbh_base_classdriver_data
+};
+
+
+/*===========================================================================*/
+/* Helper functions.				                                         */
+/*===========================================================================*/
+#include <usbh/desciter.h>	/* descriptor iterators */
+#include <usbh/debug.h>		/* debug */
+
+#endif
+
+#endif /* USBH_H_ */
diff --git a/os/hal/include/usbh/debug.h b/os/hal/include/usbh/debug.h
index 219eeb1..5120121 100644
--- a/os/hal/include/usbh/debug.h
+++ b/os/hal/include/usbh/debug.h
@@ -19,7 +19,7 @@
 #ifndef USBH_DEBUG_H_

 #define USBH_DEBUG_H_

 

-#include "usbh.h"

+#include "hal_usbh.h"

 

 #if HAL_USE_USBH

 

diff --git a/os/hal/include/usbh/dev/ftdi.h b/os/hal/include/usbh/dev/ftdi.h
index 678a521..ad6b4cd 100644
--- a/os/hal/include/usbh/dev/ftdi.h
+++ b/os/hal/include/usbh/dev/ftdi.h
@@ -18,7 +18,7 @@
 #ifndef USBH_FTDI_H_

 #define USBH_FTDI_H_

 

-#include "usbh.h"

+#include "hal_usbh.h"

 

 #if HAL_USE_USBH && HAL_USBH_USE_FTDI

 

diff --git a/os/hal/include/usbh/dev/hub.h b/os/hal/include/usbh/dev/hub.h
index 28a0681..07e88e6 100644
--- a/os/hal/include/usbh/dev/hub.h
+++ b/os/hal/include/usbh/dev/hub.h
@@ -18,7 +18,7 @@
 #ifndef USBH_HUB_H_

 #define USBH_HUB_H_

 

-#include "usbh.h"

+#include "hal_usbh.h"

 

 #if HAL_USE_USBH

 #if HAL_USBH_USE_HUB

diff --git a/os/hal/include/usbh/dev/msd.h b/os/hal/include/usbh/dev/msd.h
index 2ca8817..d164618 100644
--- a/os/hal/include/usbh/dev/msd.h
+++ b/os/hal/include/usbh/dev/msd.h
@@ -18,7 +18,7 @@
 #ifndef USBH_MSD_H_

 #define USBH_MSD_H_

 

-#include "usbh.h"

+#include "hal_usbh.h"

 

 #if HAL_USE_USBH && HAL_USBH_USE_MSD

 

diff --git a/os/hal/include/usbh/internal.h b/os/hal/include/usbh/internal.h
index 6811e20..baa477f 100644
--- a/os/hal/include/usbh/internal.h
+++ b/os/hal/include/usbh/internal.h
@@ -18,7 +18,7 @@
 #ifndef USBH_INTERNAL_H_

 #define USBH_INTERNAL_H_

 

-#include "usbh.h"

+#include "hal_usbh.h"

 

 #if HAL_USE_USBH

 

diff --git a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c b/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c
index 601deca..601deca 100644
--- a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c
+++ b/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c
diff --git a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.h b/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.h
index ecdaf81..ecdaf81 100644
--- a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.h
+++ b/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.h
diff --git a/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.c b/os/hal/ports/STM32/LLD/DMA2Dv1/hal_stm32_dma2d.c
index 977eba0..aba029f 100644
--- a/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.c
+++ b/os/hal/ports/STM32/LLD/DMA2Dv1/hal_stm32_dma2d.c
@@ -1,3130 +1,3130 @@
-/*

-    Copyright (C) 2013-2015 Andrea Zoppi

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    stm32_dma2d.c

- * @brief   DMA2D/Chrom-ART driver.

- */

-

-#include "ch.h"

-#include "hal.h"

-

-#include "stm32_dma2d.h"

-

-#if STM32_DMA2D_USE_DMA2D || defined(__DOXYGEN__)

-

-/* Ignore annoying warning messages for actually safe code.*/

-#if defined(__GNUC__) && !defined(__DOXYGEN__)

-#pragma GCC diagnostic ignored "-Wtype-limits"

-#endif

-

-/**

- * @addtogroup dma2d

- * @{

- */

-

-/*===========================================================================*/

-/* Driver local definitions.                                                 */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver exported variables.                                                */

-/*===========================================================================*/

-

-/** @brief DMA2DD1 driver identifier.*/

-DMA2DDriver DMA2DD1;

-

-/*===========================================================================*/

-/* Driver local variables and types.                                         */

-/*===========================================================================*/

-

-/**

- * @brief   Bits per pixel lookup table.

- */

-static const uint8_t dma2d_bpp[DMA2D_MAX_PIXFMT_ID + 1] = {

-  32,  /* DMA2D_FMT_ARGB8888 */

-  24,  /* DMA2D_FMT_RGB888 */

-  16,  /* DMA2D_FMT_RGB565 */

-  16,  /* DMA2D_FMT_ARGB1555 */

-  16,  /* DMA2D_FMT_ARGB4444 */

-   8,  /* DMA2D_FMT_L8 */

-   8,  /* DMA2D_FMT_AL44 */

-  16,  /* DMA2D_FMT_AL88 */

-   4,  /* DMA2D_FMT_L4 */

-   8,  /* DMA2D_FMT_A8 */

-   4   /* DMA2D_FMT_A4 */

-};

-

-/*===========================================================================*/

-/* Driver local functions.                                                   */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver exported functions.                                                */

-/*===========================================================================*/

-

-/**

- * @name    DMA2D interrupt handlers

- * @{

- */

-

-/**

- * @brief   DMA2D global interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_DMA2D_HANDLER) {

-

-  DMA2DDriver *const dma2dp = &DMA2DD1;

-  bool job_done = false;

-  thread_t *tp = NULL;

-

-  OSAL_IRQ_PROLOGUE();

-

-  /* Handle Configuration Error ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_CEIF) && (DMA2D->CR & DMA2D_CR_CEIE)) {

-    if (dma2dp->config->cfgerr_isr != NULL)

-      dma2dp->config->cfgerr_isr(dma2dp);

-    job_done = true;

-    DMA2D->IFCR |= DMA2D_IFSR_CCEIF;

-  }

-

-  /* Handle CLUT (Palette) Transfer Complete ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_CTCIF) && (DMA2D->CR & DMA2D_CR_CTCIE)) {

-    if (dma2dp->config->paltrfdone_isr != NULL)

-      dma2dp->config->paltrfdone_isr(dma2dp);

-    job_done = true;

-    DMA2D->IFCR |= DMA2D_IFSR_CCTCIF;

-  }

-

-  /* Handle CLUT (Palette) Access Error ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_CAEIF) && (DMA2D->CR & DMA2D_CR_CAEIE)) {

-    if (dma2dp->config->palacserr_isr != NULL)

-      dma2dp->config->palacserr_isr(dma2dp);

-    job_done = true;

-    DMA2D->IFCR |= DMA2D_IFSR_CCAEIF;

-  }

-

-  /* Handle Transfer Watermark ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_TWIF) && (DMA2D->CR & DMA2D_CR_TWIE)) {

-    if (dma2dp->config->trfwmark_isr != NULL)

-      dma2dp->config->trfwmark_isr(dma2dp);

-    DMA2D->IFCR |= DMA2D_IFSR_CTWIF;

-  }

-

-  /* Handle Transfer Complete ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_TCIF) && (DMA2D->CR & DMA2D_CR_TCIE)) {

-    if (dma2dp->config->trfdone_isr != NULL)

-      dma2dp->config->trfdone_isr(dma2dp);

-    job_done = true;

-    DMA2D->IFCR |= DMA2D_IFSR_CTCIF;

-  }

-

-  /* Handle Transfer Error ISR.*/

-  if ((DMA2D->ISR & DMA2D_ISR_TEIF) && (DMA2D->CR & DMA2D_CR_TEIE)) {

-    if (dma2dp->config->trferr_isr != NULL)

-      dma2dp->config->trferr_isr(dma2dp);

-    job_done = true;

-    DMA2D->IFCR |= DMA2D_IFSR_CTEIF;

-  }

-

-  if (job_done) {

-    osalSysLockFromISR();

-    osalDbgAssert(dma2dp->state == DMA2D_ACTIVE, "invalid state");

-

-  #if DMA2D_USE_WAIT

-    /* Wake the waiting thread up.*/

-    if (dma2dp->thread != NULL) {

-      tp = dma2dp->thread;

-      dma2dp->thread = NULL;

-      tp->u.rdymsg = MSG_OK;

-      chSchReadyI(tp);

-    }

-  #endif  /* DMA2D_USE_WAIT */

-

-    dma2dp->state = DMA2D_READY;

-    osalSysUnlockFromISR();

-  }

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D driver-specific methods

- * @{

- */

-

-/**

- * @brief   DMA2D Driver initialization.

- * @details Initializes the DMA2D subsystem and chosen drivers. Should be

- *          called at board initialization.

- *

- * @init

- */

-void dma2dInit(void) {

-

-  /* Reset the DMA2D hardware module.*/

-  rccResetDMA2D();

-

-  /* Enable the DMA2D clock.*/

-  rccEnableDMA2D(false);

-

-  /* Driver struct initialization.*/

-  dma2dObjectInit(&DMA2DD1);

-  DMA2DD1.state = DMA2D_STOP;

-}

-

-/**

- * @brief   Initializes the standard part of a @p DMA2DDriver structure.

- *

- * @param[out] dma2dp   pointer to the @p DMA2DDriver object

- *

- * @init

- */

-void dma2dObjectInit(DMA2DDriver *dma2dp) {

-

-  osalDbgCheck(dma2dp == &DMA2DD1);

-

-  dma2dp->state = DMA2D_UNINIT;

-  dma2dp->config = NULL;

-#if DMA2D_USE_WAIT

-  dma2dp->thread = NULL;

-#endif  /* DMA2D_USE_WAIT */

-#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxObjectInit(&dma2dp->lock);

-#else

-  chSemObjectInit(&dma2dp->lock, 1);

-#endif

-#endif  /* (TRUE == DMA2D_USE_MUTUAL_EXCLUSION) */

-}

-

-/**

- * @brief   Get the driver state.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @retun               driver state

- *

- * @iclass

- */

-dma2d_state_t dma2dGetStateI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheckClassI();

-

-  return dma2dp->state;

-}

-

-/**

- * @brief   Get the driver state.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @retun               driver state

- *

- * @api

- */

-dma2d_state_t dma2dGetState(DMA2DDriver *dma2dp) {

-

-  dma2d_state_t state;

-  chSysLock();

-  state = dma2dGetStateI(dma2dp);

-  chSysUnlock();

-  return state;

-}

-

-/**

- * @brief   Configures and activates the DMA2D peripheral.

- * @pre     DMA2D is stopped.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] configp   pointer to the @p DMA2DConfig object

- *

- * @api

- */

-void dma2dStart(DMA2DDriver *dma2dp, const DMA2DConfig *configp) {

-

-  chSysLock();

-

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(configp != NULL);

-  osalDbgAssert(dma2dp->state == DMA2D_STOP, "invalid state");

-

-  dma2dp->config = configp;

-

-  /* Turn off the controller and its interrupts.*/

-  DMA2D->CR = 0;

-

-  /* Enable interrupts, except Line Watermark.*/

-  nvicEnableVector(STM32_DMA2D_NUMBER, STM32_DMA2D_IRQ_PRIORITY);

-

-  DMA2D->CR = (DMA2D_CR_CEIE | DMA2D_CR_CTCIE | DMA2D_CR_CAEIE |

-               DMA2D_CR_TCIE | DMA2D_CR_TEIE);

-

-  dma2dp->state = DMA2D_READY;

-  chSysUnlock();

-}

-

-/**

- * @brief   Deactivates the DMA2D peripheral.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dStop(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "invalid state");

-#if DMA2D_USE_WAIT

-  osalDbgAssert(dma2dp->thread == NULL, "still waiting");

-#endif  /* DMA2D_USE_WAIT */

-

-  dma2dp->state = DMA2D_STOP;

-  chSysUnlock();

-}

-

-#if DMA2D_USE_MUTUAL_EXCLUSION

-

-/**

- * @brief   Gains exclusive access to the DMA2D module.

- * @details This function tries to gain ownership to the DMA2D module, if the

- *          module is already being used then the invoking thread is queued.

- * @pre     In order to use this function the option

- *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @sclass

- */

-void dma2dAcquireBusS(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxLockS(&dma2dp->lock);

-#else

-  chSemWaitS(&dma2dp->lock);

-#endif

-}

-

-/**

- * @brief   Gains exclusive access to the DMA2D module.

- * @details This function tries to gain ownership to the DMA2D module, if the

- *          module is already being used then the invoking thread is queued.

- * @pre     In order to use this function the option

- *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dAcquireBus(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dAcquireBusS(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Releases exclusive access to the DMA2D module.

- * @pre     In order to use this function the option

- *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @sclass

- */

-void dma2dReleaseBusS(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxUnlockS(&dma2dp->lock);

-#else

-  chSemSignalI(&dma2dp->lock);

-#endif

-}

-

-/**

- * @brief   Releases exclusive access to the DMA2D module.

- * @pre     In order to use this function the option

- *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dReleaseBus(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dReleaseBusS(dma2dp);

-  chSysUnlock();

-}

-

-#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */

-

-/** @} */

-

-/**

- * @name    DMA2D global methods

- * @{

- */

-

-/**

- * @brief   Get watermark position.

- * @details Gets the watermark line position.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              watermark line position

- *

- * @iclass

- */

-uint16_t dma2dGetWatermarkPosI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (uint16_t)(DMA2D->LWR & DMA2D_LWR_LW);

-}

-

-/**

- * @brief   Get watermark position.

- * @details Gets the watermark line position.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              watermark line position

- *

- * @api

- */

-uint16_t dma2dGetWatermarkPos(DMA2DDriver *dma2dp) {

-

-  uint16_t line;

-  chSysLock();

-  line = dma2dGetWatermarkPosI(dma2dp);

-  chSysUnlock();

-  return line;

-}

-

-/**

- * @brief   Set watermark position.

- * @details Sets the watermark line position.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] line      watermark line position

- *

- * @iclass

- */

-void dma2dSetWatermarkPosI(DMA2DDriver *dma2dp, uint16_t line) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->LWR = ((DMA2D->LWR & ~DMA2D_LWR_LW) |

-                ((uint32_t)line & DMA2D_LWR_LW));

-}

-

-/**

- * @brief   Set watermark position.

- * @details Sets the watermark line position.

- * @note    The interrupt is invoked after the last pixel of the watermark line

- *          is written.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] line      watermark line position

- *

- * @iclass

- */

-void dma2dSetWatermarkPos(DMA2DDriver *dma2dp, uint16_t line) {

-

-  chSysLock();

-  dma2dSetWatermarkPosI(dma2dp, line);

-  chSysUnlock();

-}

-

-/**

- * @brief   Watermark interrupt enabled.

- * @details Tells whether the watermark interrupt is enabled.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool dma2dIsWatermarkEnabledI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (DMA2D->CR & DMA2D_CR_TWIE) != 0;

-}

-

-/**

- * @brief   Watermark interrupt enabled.

- * @details Tells whether the watermark interrupt is enabled.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool dma2dIsWatermarkEnabled(DMA2DDriver *dma2dp) {

-

-  bool enabled;

-  chSysLock();

-  enabled = dma2dIsWatermarkEnabledI(dma2dp);

-  chSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable watermark interrupt.

- * @details Enables the watermark interrupt. The interrupt is invoked after the

- *          last pixel of the watermark line is written to the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dEnableWatermarkI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  DMA2D->CR |= DMA2D_CR_TWIE;

-}

-

-/**

- * @brief   Enable watermark interrupt.

- * @details Enables the watermark interrupt. The interrupt is invoked after the

- *          last pixel of the watermark line is written to the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dEnableWatermark(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dEnableWatermarkI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Disable watermark interrupt.

- * @details Disables the watermark interrupt.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dDisableWatermarkI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  DMA2D->CR &= ~DMA2D_CR_TWIE;

-}

-

-/**

- * @brief   Disable watermark interrupt.

- * @details Disables the watermark interrupt.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dDisableWatermark(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dDisableWatermarkI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get dead time cycles.

- * @details Gets the minimum dead time DMA2D clock cycles between DMA2D

- *          transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              dead time, in DMA2D clock cycles

- *

- * @iclass

- */

-uint32_t dma2dGetDeadTimeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (DMA2D->AMTCR & DMA2D_AMTCR_DT) >> 8;

-}

-

-/**

- * @brief   Get dead time cycles.

- * @details Gets the minimum dead time DMA2D clock cycles between DMA2D

- *          transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              dead time, in DMA2D clock cycles

- *

- * @api

- */

-uint32_t dma2dGetDeadTime(DMA2DDriver *dma2dp) {

-

-  uint32_t cycles;

-  chSysLock();

-  cycles = dma2dGetDeadTimeI(dma2dp);

-  chSysUnlock();

-  return cycles;

-}

-

-/**

- * @brief   Set dead time cycles.

- * @details Sets the minimum dead time DMA2D clock cycles between DMA2D

- *          transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cycles    dead time, in DMA2D clock cycles

- *

- * @iclass

- */

-void dma2dSetDeadTimeI(DMA2DDriver *dma2dp, uint32_t cycles) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(cycles <= DMA2D_MAX_DEADTIME_CYCLES, "bounds");

-  (void)dma2dp;

-

-  DMA2D->AMTCR = ((DMA2D->AMTCR & ~DMA2D_AMTCR_DT) |

-                  ((cycles << 8) & DMA2D_AMTCR_DT));

-}

-

-/**

- * @brief   Set dead time cycles.

- * @details Sets the minimum dead time DMA2D clock cycles between DMA2D

- *          transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cycles    dead time, in DMA2D clock cycles

- *

- * @api

- */

-void dma2dSetDeadTime(DMA2DDriver *dma2dp, uint32_t cycles) {

-

-  chSysLock();

-  dma2dSetDeadTimeI(dma2dp, cycles);

-  chSysUnlock();

-}

-

-/**

- * @brief   Dead time enabled.

- * @details Tells whether the dead time between DMA2D transactions is enabled.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool dma2dIsDeadTimeEnabledI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (DMA2D->AMTCR & DMA2D_AMTCR_EN) != 0;

-}

-

-/**

- * @brief   Dead time enabled.

- * @details Tells whether the dead time between DMA2D transactions is enabled.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool dma2dIsDeadTimeEnabled(DMA2DDriver *dma2dp) {

-

-  bool enabled;

-  chSysLock();

-  enabled = dma2dIsDeadTimeEnabledI(dma2dp);

-  chSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable dead time.

- * @details Enables the dead time between DMA2D transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dEnableDeadTimeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  DMA2D->AMTCR |= DMA2D_AMTCR_EN;

-}

-

-/**

- * @brief   Enable dead time.

- * @details Enables the dead time between DMA2D transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dEnableDeadTime(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dEnableDeadTimeI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Disable dead time.

- * @details Disables the dead time between DMA2D transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dDisableDeadTimeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  DMA2D->AMTCR &= ~DMA2D_AMTCR_EN;

-}

-

-/**

- * @brief   Disable dead time.

- * @details Disables the dead time between DMA2D transactions.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dDisableDeadTime(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dDisableDeadTimeI(dma2dp);

-  chSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D job (transaction) methods

- * @{

- */

-

-/**

- * @brief   Get job mode.

- * @details Gets the job mode.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              job mode

- *

- * @iclass

- */

-dma2d_jobmode_t dma2dJobGetModeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_jobmode_t)(DMA2D->CR & DMA2D_CR_MODE);

-}

-

-/**

- * @brief   Get job mode.

- * @details Gets the job mode.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              job mode

- *

- * @api

- */

-dma2d_jobmode_t dma2dJobGetMode(DMA2DDriver *dma2dp) {

-

-  dma2d_jobmode_t mode;

-  chSysLock();

-  mode = dma2dJobGetModeI(dma2dp);

-  chSysUnlock();

-  return mode;

-}

-

-/**

- * @brief   Set job mode.

- * @details Sets the job mode.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      job mode

- *

- * @iclass

- */

-void dma2dJobSetModeI(DMA2DDriver *dma2dp, dma2d_jobmode_t mode) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert((mode & ~DMA2D_CR_MODE) == 0, "bounds");

-  (void)dma2dp;

-

-  DMA2D->CR = ((DMA2D->CR & ~DMA2D_CR_MODE) |

-               ((uint32_t)mode & DMA2D_CR_MODE));

-}

-

-/**

- * @brief   Set job mode.

- * @details Sets the job mode.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      job mode

- *

- * @api

- */

-void dma2dJobSetMode(DMA2DDriver *dma2dp, dma2d_jobmode_t mode) {

-

-  chSysLock();

-  dma2dJobSetModeI(dma2dp, mode);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get job size.

- * @details Gets the job size.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] widthp   pointer to the job width, in pixels

- * @param[out] heightp  pointer to the job height, in pixels

- *

- * @iclass

- */

-void dma2dJobGetSizeI(DMA2DDriver *dma2dp,

-                      uint16_t *widthp, uint16_t *heightp) {

-

-  uint32_t r;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(widthp != NULL);

-  osalDbgCheck(heightp != NULL);

-  (void)dma2dp;

-

-  r = DMA2D->NLR;

-  *widthp  = (uint16_t)((r & DMA2D_NLR_PL) >> 16);

-  *heightp = (uint16_t)((r & DMA2D_NLR_NL) >>  0);

-}

-

-/**

- * @brief   Get job size.

- * @details Gets the job size.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] widthp   pointer to the job width, in pixels

- * @param[out] heightp  pointer to the job height, in pixels

- *

- * @api

- */

-void dma2dJobGetSize(DMA2DDriver *dma2dp,

-                     uint16_t *widthp, uint16_t *heightp) {

-

-  chSysLock();

-  dma2dJobGetSizeI(dma2dp, widthp, heightp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set job size.

- * @details Sets the job size.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] widthp    job width, in pixels

- * @param[in] heightp   job height, in pixels

- *

- * @iclass

- */

-void dma2dJobSetSizeI(DMA2DDriver *dma2dp, uint16_t width, uint16_t height) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(width <= DMA2D_MAX_WIDTH, "bounds");

-  osalDbgAssert(height <= DMA2D_MAX_HEIGHT, "bounds");

-  (void)dma2dp;

-

-  DMA2D->NLR = ((((uint32_t)width  << 16) & DMA2D_NLR_PL) |

-                (((uint32_t)height <<  0) & DMA2D_NLR_NL));

-}

-

-/**

- * @brief   Set job size.

- * @details Sets the job size.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] widthp    job width, in pixels

- * @param[in] heightp   job height, in pixels

- *

- * @api

- */

-void dma2dJobSetSize(DMA2DDriver *dma2dp, uint16_t width, uint16_t height) {

-

-  chSysLock();

-  dma2dJobSetSizeI(dma2dp, width, height);

-  chSysUnlock();

-}

-

-/**

- * @brief   Job executing.

- * @details Tells whether a job (transaction) is active or paused.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              executing

- *

- * @iclass

- */

-bool dma2dJobIsExecutingI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-

-  return dma2dp->state > DMA2D_READY;

-}

-

-/**

- * @brief   Job executing.

- * @details Tells whether a job (transaction) is active or paused.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              executing

- *

- * @api

- */

-bool dma2dJobIsExecuting(DMA2DDriver *dma2dp) {

-

-  bool executing;

-  chSysLock();

-  executing = dma2dJobIsExecutingI(dma2dp);

-  chSysUnlock();

-  return executing;

-}

-

-/**

- * @brief   Start job.

- * @details The job is started, and the DMA2D is set to active.

- * @note    Should there be invalid parameters, the appropriate interrupt

- *          handler will be invoked, and the DMA2D set back to ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dJobStartI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-

-  dma2dp->state = DMA2D_ACTIVE;

-  DMA2D->CR |= DMA2D_CR_START;

-}

-

-/**

- * @brief   Start job.

- * @details The job is started, and the DMA2D is set to active.

- * @note    Should there be invalid parameters, the appropriate interrupt

- *          handler will be invoked, and the DMA2D set back to ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dJobStart(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dJobStartI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Execute job.

- * @details Starts the job and waits for its completion, synchronously.

- * @note    Should there be invalid parameters, the appropriate interrupt

- *          handler will be invoked, and the DMA2D set back to ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @sclass

- */

-void dma2dJobExecuteS(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-

-  dma2dJobStartI(dma2dp);

-#if DMA2D_USE_WAIT

-  dma2dp->thread = chThdGetSelfX();

-  chSchGoSleepS(CH_STATE_SUSPENDED);

-#else

-  while (DMA2D->CR & DMA2D_CR_START)

-    chSchDoYieldS();

-#endif

-}

-

-/**

- * @brief   Execute job.

- * @details Starts the job and waits for its completion, synchronously.

- * @note    Should there be invalid parameters, the appropriate interrupt

- *          handler will be invoked, and the DMA2D set back to ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dJobExecute(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dJobExecuteS(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Suspend current job.

- * @details Suspends the current job. The driver is set to a paused state.

- * @pre     There is an active job.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dJobSuspendI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) == 0);

-  osalDbgAssert(dma2dp->state == DMA2D_ACTIVE, "invalid state");

-

-  dma2dp->state = DMA2D_PAUSED;

-  DMA2D->CR |= DMA2D_CR_SUSP;

-}

-

-/**

- * @brief   Suspend current job.

- * @details Suspends the current job. The driver is set to a paused state.

- * @pre     There is an active job.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dJobSuspend(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dJobSuspendI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Resume current job.

- * @details Resumes the current job.

- * @pre     There is a paused job.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dJobResumeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) != 0);

-  osalDbgAssert(dma2dp->state == DMA2D_PAUSED, "invalid state");

-

-  dma2dp->state = DMA2D_ACTIVE;

-  DMA2D->CR &= ~DMA2D_CR_SUSP;

-}

-

-/**

- * @brief   Resume current job.

- * @details Resumes the current job.

- * @pre     There is a paused job.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dJobResume(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dJobResumeI(dma2dp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Abort current job.

- * @details Abots the current job (if any), and the driver becomes ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @iclass

- */

-void dma2dJobAbortI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) == 0);

-  osalDbgAssert(dma2dp->state >= DMA2D_READY, "invalid state");

-

-  dma2dp->state = DMA2D_READY;

-  DMA2D->CR |= DMA2D_CR_ABORT;

-}

-

-/**

- * @brief   Abort current job.

- * @details Abots the current job (if any), and the driver becomes ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @api

- */

-void dma2dJobAbort(DMA2DDriver *dma2dp) {

-

-  chSysLock();

-  dma2dJobAbortI(dma2dp);

-  chSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D background layer methods

- * @{

- */

-

-/**

- * @brief   Get background layer buffer address.

- * @details Gets the buffer address of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @iclass

- */

-void *dma2dBgGetAddressI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (void *)DMA2D->BGMAR;

-}

-

-/**

- * @brief   Get background layer buffer address.

- * @details Gets the buffer address of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @api

- */

-void *dma2dBgGetAddress(DMA2DDriver *dma2dp) {

-

-  void *bufferp;

-  chSysLock();

-  bufferp = dma2dBgGetAddressI(dma2dp);

-  chSysUnlock();

-  return bufferp;

-}

-

-/**

- * @brief   Set background layer buffer address.

- * @details Sets the buffer address of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @iclass

- */

-void dma2dBgSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(dma2dIsAligned(bufferp, dma2dBgGetPixelFormatI(dma2dp)));

-  (void)dma2dp;

-

-  DMA2D->BGMAR = (uint32_t)bufferp;

-}

-

-/**

- * @brief   Set background layer buffer address.

- * @details Sets the buffer address of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @api

- */

-void dma2dBgSetAddress(DMA2DDriver *dma2dp, void *bufferp) {

-

-  chSysLock();

-  dma2dBgSetAddressI(dma2dp, bufferp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer wrap offset.

- * @details Gets the buffer line wrap offset of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @iclass

- */

-size_t dma2dBgGetWrapOffsetI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (size_t)(DMA2D->BGOR & DMA2D_BGOR_LO);

-}

-

-/**

- * @brief   Get background layer wrap offset.

- * @details Gets the buffer line wrap offset of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @api

- */

-size_t dma2dBgGetWrapOffset(DMA2DDriver *dma2dp) {

-

-  size_t offset;

-  chSysLock();

-  offset = dma2dBgGetWrapOffsetI(dma2dp);

-  chSysUnlock();

-  return offset;

-}

-

-/**

- * @brief   Set background layer wrap offset.

- * @details Sets the buffer line wrap offset of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @iclass

- */

-void dma2dBgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");

-  (void)dma2dp;

-

-  DMA2D->BGOR = ((DMA2D->BGOR & ~DMA2D_BGOR_LO) |

-                 ((uint32_t)offset & DMA2D_BGOR_LO));

-}

-

-/**

- * @brief   Set background layer wrap offset.

- * @details Sets the buffer line wrap offset of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @api

- */

-void dma2dBgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {

-

-  chSysLock();

-  dma2dBgSetWrapOffsetI(dma2dp, offset);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer constant alpha.

- * @details Gets the constant alpha component of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @iclass

- */

-uint8_t dma2dBgGetConstantAlphaI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (uint8_t)((DMA2D->BGPFCCR & DMA2D_BGPFCCR_ALPHA) >> 24);

-}

-

-/**

- * @brief   Get background layer constant alpha.

- * @details Gets the constant alpha component of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @api

- */

-uint8_t dma2dBgGetConstantAlpha(DMA2DDriver *dma2dp) {

-

-  uint8_t a;

-  chSysLock();

-  a = dma2dBgGetConstantAlphaI(dma2dp);

-  chSysUnlock();

-  return a;

-}

-

-/**

- * @brief   Set background layer constant alpha.

- * @details Sets the constant alpha component of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @iclass

- */

-void dma2dBgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_ALPHA) |

-                    (((uint32_t)a << 24) & DMA2D_BGPFCCR_ALPHA));

-}

-

-/**

- * @brief   Set background layer constant alpha.

- * @details Sets the constant alpha component of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @api

- */

-void dma2dBgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a) {

-

-  chSysLock();

-  dma2dBgSetConstantAlphaI(dma2dp, a);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer alpha mode.

- * @details Gets the alpha mode of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              alpha mode

- *

- * @iclass

- */

-dma2d_amode_t dma2dBgGetAlphaModeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_amode_t)(DMA2D->BGPFCCR & DMA2D_BGPFCCR_AM);

-}

-

-/**

- * @brief   Get background layer alpha mode.

- * @details Gets the alpha mode of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              alpha mode

- *

- * @api

- */

-dma2d_amode_t dma2dBgGetAlphaMode(DMA2DDriver *dma2dp) {

-

-  dma2d_amode_t mode;

-  chSysLock();

-  mode = dma2dBgGetAlphaModeI(dma2dp);

-  chSysUnlock();

-  return mode;

-}

-

-/**

- * @brief   Set background layer alpha mode.

- * @details Sets the alpha mode of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      alpha mode

- *

- * @iclass

- */

-void dma2dBgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert((mode & ~DMA2D_BGPFCCR_AM) == 0, "bounds");

-  osalDbgAssert((mode & DMA2D_BGPFCCR_AM) != DMA2D_BGPFCCR_AM, "bounds");

-  (void)dma2dp;

-

-  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_AM) |

-                    ((uint32_t)mode & DMA2D_BGPFCCR_AM));

-}

-

-/**

- * @brief   Set background layer alpha mode.

- * @details Sets the alpha mode of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      alpha mode

- *

- * @api

- */

-void dma2dBgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode) {

-

-  chSysLock();

-  dma2dBgSetAlphaModeI(dma2dp, mode);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer pixel format.

- * @details Gets the pixel format of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @iclass

- */

-dma2d_pixfmt_t dma2dBgGetPixelFormatI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_pixfmt_t)(DMA2D->BGPFCCR & DMA2D_BGPFCCR_CM);

-}

-

-/**

- * @brief   Get background layer pixel format.

- * @details Gets the pixel format of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @api

- */

-dma2d_pixfmt_t dma2dBgGetPixelFormat(DMA2DDriver *dma2dp) {

-

-  dma2d_pixfmt_t fmt;

-  chSysLock();

-  fmt = dma2dBgGetPixelFormatI(dma2dp);

-  chSysUnlock();

-  return fmt;

-}

-

-/**

- * @brief   Set background layer pixel format.

- * @details Sets the pixel format of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @iclass

- */

-void dma2dBgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(fmt <= DMA2D_MAX_PIXFMT_ID, "bounds");

-  (void)dma2dp;

-

-  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_CM) |

-                    ((uint32_t)fmt & DMA2D_BGPFCCR_CM));

-}

-

-/**

- * @brief   Set background layer pixel format.

- * @details Sets the pixel format of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @api

- */

-void dma2dBgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  chSysLock();

-  dma2dBgSetPixelFormatI(dma2dp, fmt);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer default color.

- * @details Gets the default color of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, RGB-888

- *

- * @iclass

- */

-dma2d_color_t dma2dBgGetDefaultColorI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_color_t)(DMA2D->BGCOLR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get background layer default color.

- * @details Gets the default color of the background layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, RGB-888

- *

- * @api

- */

-dma2d_color_t dma2dBgGetDefaultColor(DMA2DDriver *dma2dp) {

-

-  dma2d_color_t c;

-  chSysLock();

-  c = dma2dBgGetDefaultColorI(dma2dp);

-  chSysUnlock();

-  return c;

-}

-

-/**

- * @brief   Set background layer default color.

- * @details Sets the default color of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, RGB-888

- *

- * @iclass

- */

-void dma2dBgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->BGCOLR = (uint32_t)c & 0x00FFFFFF;

-}

-

-/**

- * @brief   Set background layer default color.

- * @details Sets the default color of the background layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, RGB-888

- *

- * @api

- */

-void dma2dBgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  chSysLock();

-  dma2dBgSetDefaultColorI(dma2dp, c);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer palette specifications.

- * @details Gets the palette specifications of the background layer.

- * @note    The palette colors pointer is actually addressed to a @p volatile

- *          memory zone.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] palettep pointer to the palette specifications

- *

- * @iclass

- */

-void dma2dBgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {

-

-  uint32_t r;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(palettep != NULL);

-  (void)dma2dp;

-

-  r = DMA2D->BGPFCCR;

-  palettep->colorsp = (const void *)DMA2D->BGCLUT;

-  palettep->length = (uint16_t)((r & DMA2D_BGPFCCR_CS) >> 8) + 1;

-  palettep->fmt = (dma2d_pixfmt_t)((r & DMA2D_BGPFCCR_CCM) >> 4);

-}

-

-/**

- * @brief   Get background layer palette specifications.

- * @details Gets the palette specifications of the background layer.

- * @note    The palette colors pointer is actually addressed to a @p volatile

- *          memory zone.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] palettep pointer to the palette specifications

- *

- * @api

- */

-void dma2dBgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {

-

-  chSysLock();

-  dma2dBgGetPaletteI(dma2dp, palettep);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set background layer palette specifications.

- * @details Sets the palette specifications of the background layer.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] palettep  pointer to the palette specifications

- *

- * @sclass

- */

-void dma2dBgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(palettep != NULL);

-  osalDbgCheck(palettep->colorsp != NULL);

-  osalDbgAssert(palettep->length > 0, "bounds");

-  osalDbgAssert(palettep->length <= DMA2D_MAX_PALETTE_LENGTH, "bounds");

-  osalDbgAssert(((palettep->fmt == DMA2D_FMT_ARGB8888) ||

-                 (palettep->fmt == DMA2D_FMT_RGB888)), "invalid format");

-

-  DMA2D->BGCMAR = (uint32_t)palettep->colorsp;

-  DMA2D->BGPFCCR = (

-    (DMA2D->BGPFCCR & ~(DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM)) |

-    ((((uint32_t)palettep->length - 1) << 8) & DMA2D_BGPFCCR_CS) |

-    ((uint32_t)palettep->fmt << 4)

-  );

-

-  dma2dp->state = DMA2D_ACTIVE;

-  DMA2D->BGPFCCR |= DMA2D_BGPFCCR_START;

-

-#if DMA2D_USE_WAIT

-  dma2dp->thread = chThdGetSelfX();

-  chSchGoSleepS(CH_STATE_SUSPENDED);

-#else

-  while (DMA2D->BGPFCCR & DMA2D_BGPFCCR_START)

-    chSchDoYieldS();

-#endif  /* DMA2D_USE_WAIT */

-}

-

-/**

- * @brief   Set background layer palette specifications.

- * @details Sets the palette specifications of the background layer.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] palettep  pointer to the palette specifications

- *

- * @api

- */

-void dma2dBgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {

-

-  chSysLock();

-  dma2dBgSetPaletteS(dma2dp, palettep);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get background layer specifications.

- * @details Gets the background layer specifications at once.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @iclass

- */

-void dma2dBgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(cfgp != NULL);

-

-  cfgp->bufferp = dma2dBgGetAddressI(dma2dp);

-  cfgp->wrap_offset = dma2dBgGetWrapOffsetI(dma2dp);

-  cfgp->fmt = dma2dBgGetPixelFormatI(dma2dp);

-  cfgp->def_color = dma2dBgGetDefaultColorI(dma2dp);

-  cfgp->const_alpha = dma2dBgGetConstantAlphaI(dma2dp);

-  if (cfgp->palettep != NULL)

-    dma2dBgGetPaletteI(dma2dp, (dma2d_palcfg_t *)cfgp->palettep);

-}

-

-/**

- * @brief   Get background layer specifications.

- * @details Gets the background layer specifications at once.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @api

- */

-void dma2dBgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dBgGetLayerI(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set background layer specifications.

- * @details Sets the background layer specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @sclass

- */

-void dma2dBgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(cfgp != NULL);

-

-  dma2dBgSetAddressI(dma2dp, cfgp->bufferp);

-  dma2dBgSetWrapOffsetI(dma2dp, cfgp->wrap_offset);

-  dma2dBgSetPixelFormatI(dma2dp, cfgp->fmt);

-  dma2dBgSetDefaultColorI(dma2dp, cfgp->def_color);

-  dma2dBgSetConstantAlphaI(dma2dp, cfgp->const_alpha);

-  if (cfgp->palettep != NULL)

-    dma2dBgSetPaletteS(dma2dp, cfgp->palettep);

-}

-

-/**

- * @brief   Set background layer specifications.

- * @details Sets the background layer specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @api

- */

-void dma2dBgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dBgSetConfigS(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D foreground layer methods

- * @{

- */

-

-/**

- * @brief   Get foreground layer buffer address.

- * @details Gets the buffer address of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @iclass

- */

-void *dma2dFgGetAddressI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (void *)DMA2D->FGMAR;

-}

-

-/**

- * @brief   Get foreground layer buffer address.

- * @details Gets the buffer address of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @api

- */

-void *dma2dFgGetAddress(DMA2DDriver *dma2dp) {

-

-  void *bufferp;

-  chSysLock();

-  bufferp = dma2dFgGetAddressI(dma2dp);

-  chSysUnlock();

-  return bufferp;

-}

-

-/**

- * @brief   Set foreground layer buffer address.

- * @details Sets the buffer address of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @iclass

- */

-void dma2dFgSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(dma2dIsAligned(bufferp, dma2dFgGetPixelFormatI(dma2dp)));

-  (void)dma2dp;

-

-  DMA2D->FGMAR = (uint32_t)bufferp;

-}

-

-/**

- * @brief   Set foreground layer buffer address.

- * @details Sets the buffer address of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @api

- */

-void dma2dFgSetAddress(DMA2DDriver *dma2dp, void *bufferp) {

-

-  chSysLock();

-  dma2dFgSetAddressI(dma2dp, bufferp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer wrap offset.

- * @details Gets the buffer line wrap offset of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @iclass

- */

-size_t dma2dFgGetWrapOffsetI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (size_t)(DMA2D->FGOR & DMA2D_FGOR_LO);

-}

-

-/**

- * @brief   Get foreground layer wrap offset.

- * @details Gets the buffer line wrap offset of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @api

- */

-size_t dma2dFgGetWrapOffset(DMA2DDriver *dma2dp) {

-

-  size_t offset;

-  chSysLock();

-  offset = dma2dFgGetWrapOffsetI(dma2dp);

-  chSysUnlock();

-  return offset;

-}

-

-/**

- * @brief   Set foreground layer wrap offset.

- * @details Sets the buffer line wrap offset of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @iclass

- */

-void dma2dFgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");

-  (void)dma2dp;

-

-  DMA2D->FGOR = ((DMA2D->FGOR & ~DMA2D_FGOR_LO) |

-                 ((uint32_t)offset & DMA2D_FGOR_LO));

-}

-

-/**

- * @brief   Set foreground layer wrap offset.

- * @details Sets the buffer line wrap offset of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @api

- */

-void dma2dFgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {

-

-  chSysLock();

-  dma2dFgSetWrapOffsetI(dma2dp, offset);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer constant alpha.

- * @details Gets the constant alpha component of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @iclass

- */

-uint8_t dma2dFgGetConstantAlphaI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (uint8_t)((DMA2D->FGPFCCR & DMA2D_FGPFCCR_ALPHA) >> 24);

-}

-

-/**

- * @brief   Get foreground layer constant alpha.

- * @details Gets the constant alpha component of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @api

- */

-uint8_t dma2dFgGetConstantAlpha(DMA2DDriver *dma2dp) {

-

-  uint8_t a;

-  chSysLock();

-  a = dma2dFgGetConstantAlphaI(dma2dp);

-  chSysUnlock();

-  return a;

-}

-

-/**

- * @brief   Set foreground layer constant alpha.

- * @details Sets the constant alpha component of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @iclass

- */

-void dma2dFgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_ALPHA) |

-                    (((uint32_t)a << 24) & DMA2D_FGPFCCR_ALPHA));

-}

-

-/**

- * @brief   Set foreground layer constant alpha.

- * @details Sets the constant alpha component of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @api

- */

-void dma2dFgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a) {

-

-  chSysLock();

-  dma2dFgSetConstantAlphaI(dma2dp, a);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer alpha mode.

- * @details Gets the alpha mode of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              alpha mode

- *

- * @iclass

- */

-dma2d_amode_t dma2dFgGetAlphaModeI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_amode_t)(DMA2D->FGPFCCR & DMA2D_FGPFCCR_AM);

-}

-

-/**

- * @brief   Get foreground layer alpha mode.

- * @details Gets the alpha mode of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              alpha mode

- *

- * @api

- */

-dma2d_amode_t dma2dFgGetAlphaMode(DMA2DDriver *dma2dp) {

-

-  dma2d_amode_t mode;

-  chSysLock();

-  mode = dma2dFgGetAlphaModeI(dma2dp);

-  chSysUnlock();

-  return mode;

-}

-

-/**

- * @brief   Set foreground layer alpha mode.

- * @details Sets the alpha mode of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      alpha mode

- *

- * @iclass

- */

-void dma2dFgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert((mode & ~DMA2D_FGPFCCR_AM) == 0, "bounds");

-  osalDbgAssert((mode & DMA2D_FGPFCCR_AM) != DMA2D_FGPFCCR_AM, "bounds");

-  (void)dma2dp;

-

-  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_AM) |

-                    ((uint32_t)mode & DMA2D_FGPFCCR_AM));

-}

-

-/**

- * @brief   Set foreground layer alpha mode.

- * @details Sets the alpha mode of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] mode      alpha mode

- *

- * @api

- */

-void dma2dFgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode) {

-

-  chSysLock();

-  dma2dFgSetAlphaModeI(dma2dp, mode);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer pixel format.

- * @details Gets the pixel format of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @iclass

- */

-dma2d_pixfmt_t dma2dFgGetPixelFormatI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_pixfmt_t)(DMA2D->FGPFCCR & DMA2D_FGPFCCR_CM);

-}

-

-/**

- * @brief   Get foreground layer pixel format.

- * @details Gets the pixel format of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @api

- */

-dma2d_pixfmt_t dma2dFgGetPixelFormat(DMA2DDriver *dma2dp) {

-

-  dma2d_pixfmt_t fmt;

-  chSysLock();

-  fmt = dma2dFgGetPixelFormatI(dma2dp);

-  chSysUnlock();

-  return fmt;

-}

-

-/**

- * @brief   Set foreground layer pixel format.

- * @details Sets the pixel format of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @iclass

- */

-void dma2dFgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(fmt <= DMA2D_MAX_PIXFMT_ID, "bounds");

-  (void)dma2dp;

-

-  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_CM) |

-                    ((uint32_t)fmt & DMA2D_FGPFCCR_CM));

-}

-

-/**

- * @brief   Set foreground layer pixel format.

- * @details Sets the pixel format of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @api

- */

-void dma2dFgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  chSysLock();

-  dma2dFgSetPixelFormatI(dma2dp, fmt);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer default color.

- * @details Gets the default color of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, RGB-888

- *

- * @iclass

- */

-dma2d_color_t dma2dFgGetDefaultColorI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_color_t)(DMA2D->FGCOLR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get foreground layer default color.

- * @details Gets the default color of the foreground layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, RGB-888

- *

- * @api

- */

-dma2d_color_t dma2dFgGetDefaultColor(DMA2DDriver *dma2dp) {

-

-  dma2d_color_t c;

-  chSysLock();

-  c = dma2dFgGetDefaultColorI(dma2dp);

-  chSysUnlock();

-  return c;

-}

-

-/**

- * @brief   Set foreground layer default color.

- * @details Sets the default color of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, RGB-888

- *

- * @iclass

- */

-void dma2dFgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->FGCOLR = (uint32_t)c & 0x00FFFFFF;

-}

-

-/**

- * @brief   Set foreground layer default color.

- * @details Sets the default color of the foreground layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, RGB-888

- *

- * @api

- */

-void dma2dFgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  chSysLock();

-  dma2dFgSetDefaultColorI(dma2dp, c);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer palette specifications.

- * @details Gets the palette specifications of the foreground layer.

- * @note    The palette colors pointer is actually addressed to a @p volatile

- *          memory zone.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] palettep pointer to the palette specifications

- *

- * @iclass

- */

-void dma2dFgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {

-

-  uint32_t r;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(palettep != NULL);

-  (void)dma2dp;

-

-  r = DMA2D->FGPFCCR;

-  palettep->colorsp = (const void *)DMA2D->FGCLUT;

-  palettep->length = (uint16_t)((r & DMA2D_FGPFCCR_CS) >> 8) + 1;

-  palettep->fmt = (dma2d_pixfmt_t)((r & DMA2D_FGPFCCR_CCM) >> 4);

-}

-

-/**

- * @brief   Get foreground layer palette specifications.

- * @details Gets the palette specifications of the foreground layer.

- * @note    The palette colors pointer is actually addressed to a @p volatile

- *          memory zone.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] palettep pointer to the palette specifications

- *

- * @api

- */

-void dma2dFgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {

-

-  chSysLock();

-  dma2dFgGetPaletteI(dma2dp, palettep);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer palette specifications.

- * @details Sets the palette specifications of the foreground layer.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] palettep  pointer to the palette specifications

- *

- * @sclass

- */

-void dma2dFgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(palettep != NULL);

-  osalDbgCheck(palettep->colorsp != NULL);

-  osalDbgAssert(palettep->length > 0, "bounds");

-  osalDbgAssert(palettep->length <= DMA2D_MAX_PALETTE_LENGTH, "bounds");

-  osalDbgAssert(((palettep->fmt == DMA2D_FMT_ARGB8888) ||

-                 (palettep->fmt == DMA2D_FMT_RGB888)), "invalid format");

-

-  DMA2D->FGCMAR = (uint32_t)palettep->colorsp;

-  DMA2D->FGPFCCR = (

-    (DMA2D->FGPFCCR & ~(DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM)) |

-    ((((uint32_t)palettep->length - 1) << 8) & DMA2D_FGPFCCR_CS) |

-    ((uint32_t)palettep->fmt << 4)

-  );

-

-  dma2dp->state = DMA2D_ACTIVE;

-  DMA2D->FGPFCCR |= DMA2D_FGPFCCR_START;

-

-#if DMA2D_USE_WAIT

-  dma2dp->thread = chThdGetSelfX();

-  chSchGoSleepS(CH_STATE_SUSPENDED);

-#else

-  while (DMA2D->FGPFCCR & DMA2D_FGPFCCR_START)

-    chSchDoYieldS();

-#endif  /* DMA2D_USE_WAIT */

-}

-

-/**

- * @brief   Set foreground layer palette specifications.

- * @details Sets the palette specifications of the foreground layer.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] palettep  pointer to the palette specifications

- *

- * @api

- */

-void dma2dFgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {

-

-  chSysLock();

-  dma2dFgSetPaletteS(dma2dp, palettep);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer specifications.

- * @details Gets the foreground layer specifications at once.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @iclass

- */

-void dma2dFgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(cfgp != NULL);

-

-  cfgp->bufferp = dma2dFgGetAddressI(dma2dp);

-  cfgp->wrap_offset = dma2dFgGetWrapOffsetI(dma2dp);

-  cfgp->fmt = dma2dFgGetPixelFormatI(dma2dp);

-  cfgp->def_color = dma2dFgGetDefaultColorI(dma2dp);

-  cfgp->const_alpha = dma2dFgGetConstantAlphaI(dma2dp);

-  if (cfgp->palettep != NULL)

-    dma2dFgGetPaletteI(dma2dp, (dma2d_palcfg_t *)cfgp->palettep);

-}

-

-/**

- * @brief   Get foreground layer specifications.

- * @details Gets the foreground layer specifications at once.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @api

- */

-void dma2dFgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dFgGetLayerI(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer specifications.

- * @details Sets the foreground layer specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @sclass

- */

-void dma2dFgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(cfgp != NULL);

-

-  dma2dFgSetAddressI(dma2dp, cfgp->bufferp);

-  dma2dFgSetWrapOffsetI(dma2dp, cfgp->wrap_offset);

-  dma2dFgSetPixelFormatI(dma2dp, cfgp->fmt);

-  dma2dFgSetDefaultColorI(dma2dp, cfgp->def_color);

-  dma2dFgSetConstantAlphaI(dma2dp, cfgp->const_alpha);

-  if (cfgp->palettep != NULL)

-    dma2dFgSetPaletteS(dma2dp, cfgp->palettep);

-}

-

-/**

- * @brief   Set foreground layer specifications.

- * @details Sets the foreground layer specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- * @note    This function should not be called while the DMA2D is already

- *          executing a job, otherwise the appropriate error interrupt might be

- *          invoked.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @api

- */

-void dma2dFgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dFgSetConfigS(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D output layer methods

- * @{

- */

-

-/**

- * @brief   Get output layer buffer address.

- * @details Gets the buffer address of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @iclass

- */

-void *dma2dOutGetAddressI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (void *)DMA2D->OMAR;

-}

-

-/**

- * @brief   Get output layer buffer address.

- * @details Gets the buffer address of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              buffer address

- *

- * @api

- */

-void *dma2dOutGetAddress(DMA2DDriver *dma2dp) {

-

-  void *bufferp;

-  chSysLock();

-  bufferp = dma2dOutGetAddressI(dma2dp);

-  chSysUnlock();

-  return bufferp;

-}

-

-/**

- * @brief   Set output layer buffer address.

- * @details Sets the buffer address of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @iclass

- */

-void dma2dOutSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(dma2dIsAligned(bufferp, dma2dOutGetPixelFormatI(dma2dp)));

-  (void)dma2dp;

-

-  DMA2D->OMAR = (uint32_t)bufferp;

-}

-

-/**

- * @brief   Set output layer buffer address.

- * @details Sets the buffer address of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] bufferp   buffer address

- *

- * @api

- */

-void dma2dOutSetAddress(DMA2DDriver *dma2dp, void *bufferp) {

-

-  chSysLock();

-  dma2dOutSetAddressI(dma2dp, bufferp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get output layer wrap offset.

- * @details Gets the buffer line wrap offset of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @iclass

- */

-size_t dma2dOutGetWrapOffsetI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (size_t)(DMA2D->OOR & DMA2D_OOR_LO);

-}

-

-/**

- * @brief   Get output layer wrap offset.

- * @details Gets the buffer line wrap offset of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              wrap offset, in pixels

- *

- * @api

- */

-size_t dma2dOutGetWrapOffset(DMA2DDriver *dma2dp) {

-

-  size_t offset;

-  chSysLock();

-  offset = dma2dOutGetWrapOffsetI(dma2dp);

-  chSysUnlock();

-  return offset;

-}

-

-/**

- * @brief   Set output layer wrap offset.

- * @details Sets the buffer line wrap offset of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @iclass

- */

-void dma2dOutSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");

-  (void)dma2dp;

-

-  DMA2D->OOR = ((DMA2D->OOR & ~DMA2D_OOR_LO) |

-                ((uint32_t)offset & DMA2D_OOR_LO));

-}

-

-/**

- * @brief   Set output layer wrap offset.

- * @details Sets the buffer line wrap offset of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] offset    wrap offset, in pixels

- *

- * @api

- */

-void dma2dOutSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {

-

-  chSysLock();

-  dma2dOutSetWrapOffsetI(dma2dp, offset);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get output layer pixel format.

- * @details Gets the pixel format of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @iclass

- */

-dma2d_pixfmt_t dma2dOutGetPixelFormatI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_pixfmt_t)(DMA2D->OPFCCR & DMA2D_OPFCCR_CM);

-}

-

-/**

- * @brief   Get output layer pixel format.

- * @details Gets the pixel format of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              pixel format

- *

- * @api

- */

-dma2d_pixfmt_t dma2dOutGetPixelFormat(DMA2DDriver *dma2dp) {

-

-  dma2d_pixfmt_t fmt;

-  chSysLock();

-  fmt = dma2dOutGetPixelFormatI(dma2dp);

-  chSysUnlock();

-  return fmt;

-}

-

-/**

- * @brief   Set output layer pixel format.

- * @details Sets the pixel format of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @iclass

- */

-void dma2dOutSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgAssert(fmt <= DMA2D_MAX_OUTPIXFMT_ID, "bounds");

-  (void)dma2dp;

-

-  DMA2D->OPFCCR = ((DMA2D->OPFCCR & ~DMA2D_OPFCCR_CM) |

-                   ((uint32_t)fmt & DMA2D_OPFCCR_CM));

-}

-

-/**

- * @brief   Set output layer pixel format.

- * @details Sets the pixel format of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] fmt       pixel format

- *

- * @api

- */

-void dma2dOutSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {

-

-  chSysLock();

-  dma2dOutSetPixelFormatI(dma2dp, fmt);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get output layer default color.

- * @details Gets the default color of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, chosen output format

- *

- * @iclass

- */

-dma2d_color_t dma2dOutGetDefaultColorI(DMA2DDriver *dma2dp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  (void)dma2dp;

-

-  return (dma2d_color_t)(DMA2D->OCOLR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get output layer default color.

- * @details Gets the default color of the output layer.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- *

- * @return              default color, chosen output format

- *

- * @api

- */

-dma2d_color_t dma2dOutGetDefaultColor(DMA2DDriver *dma2dp) {

-

-  dma2d_color_t c;

-  chSysLock();

-  c = dma2dOutGetDefaultColorI(dma2dp);

-  chSysUnlock();

-  return c;

-}

-

-/**

- * @brief   Set output layer default color.

- * @details Sets the default color of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, chosen output format

- *

- * @iclass

- */

-void dma2dOutSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  (void)dma2dp;

-

-  DMA2D->OCOLR = (uint32_t)c & 0x00FFFFFF;

-}

-

-/**

- * @brief   Set output layer default color.

- * @details Sets the default color of the output layer.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] c         default color, chosen output format

- *

- * @api

- */

-void dma2dOutSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {

-

-  chSysLock();

-  dma2dOutSetDefaultColorI(dma2dp, c);

-  chSysUnlock();

-}

-

-/**

- * @brief   Get output layer specifications.

- * @details Gets the output layer specifications at once.

- * @note    Constant alpha and palette specifications are ignored.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @iclass

- */

-void dma2dOutGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgCheck(cfgp != NULL);

-

-  cfgp->bufferp = dma2dOutGetAddressI(dma2dp);

-  cfgp->wrap_offset = dma2dOutGetWrapOffsetI(dma2dp);

-  cfgp->fmt = dma2dOutGetPixelFormatI(dma2dp);

-  cfgp->def_color = dma2dOutGetDefaultColorI(dma2dp);

-}

-

-/**

- * @brief   Get output layer specifications.

- * @details Gets the output layer specifications at once.

- * @note    Constant alpha and palette specifications are ignored.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @api

- */

-void dma2dOutGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dOutGetLayerI(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/**

- * @brief   Set output layer specifications.

- * @details Sets the output layer specifications at once.

- * @note    Constant alpha and palette specifications are ignored.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @iclass

- */

-void dma2dOutSetConfigI(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(dma2dp == &DMA2DD1);

-  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");

-  osalDbgCheck(cfgp != NULL);

-

-  dma2dOutSetAddressI(dma2dp, cfgp->bufferp);

-  dma2dOutSetWrapOffsetI(dma2dp, cfgp->wrap_offset);

-  dma2dOutSetPixelFormatI(dma2dp, cfgp->fmt);

-  dma2dOutSetDefaultColorI(dma2dp, cfgp->def_color);

-}

-

-/**

- * @brief   Set output layer specifications.

- * @details Sets the output layer specifications at once.

- * @note    Constant alpha and palette specifications are ignored.

- * @pre     DMA2D is ready.

- *

- * @param[in] dma2dp    pointer to the @p DMA2DDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @api

- */

-void dma2dOutSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {

-

-  chSysLock();

-  dma2dOutSetConfigI(dma2dp, cfgp);

-  chSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    DMA2D helper functions

- * @{

- */

-

-/**

- * @brief   Compute pixel address.

- * @details Computes the buffer address of a pixel, given the buffer

- *          specifications.

- *

- * @param[in] originp   buffer origin address

- * @param[in] pitch     buffer pitch, in bytes

- * @param[in] fmt       buffer pixel format

- * @param[in] x         horizontal pixel coordinate

- * @param[in] y         vertical pixel coordinate

- *

- * @return              pixel address, constant data

- *

- * @api

- */

-const void *dma2dComputeAddressConst(const void *originp, size_t pitch,

-                                     dma2d_pixfmt_t fmt,

-                                     uint16_t x, uint16_t y) {

-

-  osalDbgCheck(pitch > 0);

-

-  switch (fmt) {

-  case DMA2D_FMT_ARGB8888:

-    return (const void *)((uintptr_t)originp +

-                          (uintptr_t)y * pitch + (uintptr_t)x * 4);

-  case DMA2D_FMT_RGB888:

-    return (const void *)((uintptr_t)originp +

-                          (uintptr_t)y * pitch + (uintptr_t)x * 3);

-  case DMA2D_FMT_RGB565:

-  case DMA2D_FMT_ARGB1555:

-  case DMA2D_FMT_ARGB4444:

-  case DMA2D_FMT_AL88:

-    return (const void *)((uintptr_t)originp +

-                          (uintptr_t)y * pitch + (uintptr_t)x * 2);

-  case DMA2D_FMT_L8:

-  case DMA2D_FMT_AL44:

-  case DMA2D_FMT_A8:

-    return (const void *)((uintptr_t)originp +

-                          (uintptr_t)y * pitch + (uintptr_t)x);

-  case DMA2D_FMT_L4:

-  case DMA2D_FMT_A4:

-    osalDbgAssert((x & 1) == 0, "not aligned");

-    return (const void *)((uintptr_t)originp +

-                          (uintptr_t)y * pitch + (uintptr_t)x / 2);

-  default:

-    osalDbgAssert(false, "invalid format");

-    return NULL;

-  }

-}

-

-/**

- * @brief   Address is aligned.

- * @details Tells whether the address is aligned with the provided pixel format.

- *

- * @param[in] bufferp   address

- * @param[in] fmt       pixel format

- *

- * @return              address is aligned

- *

- * @api

- */

-bool dma2dIsAligned(const void *bufferp, dma2d_pixfmt_t fmt) {

-

-  switch (fmt) {

-  case DMA2D_FMT_ARGB8888:

-  case DMA2D_FMT_RGB888:

-    return ((uintptr_t)bufferp & 3) == 0;   /* 32-bit alignment.*/

-  case DMA2D_FMT_RGB565:

-  case DMA2D_FMT_ARGB1555:

-  case DMA2D_FMT_ARGB4444:

-  case DMA2D_FMT_AL88:

-    return ((uintptr_t)bufferp & 1) == 0;   /* 16-bit alignment.*/

-  case DMA2D_FMT_L8:

-  case DMA2D_FMT_AL44:

-  case DMA2D_FMT_L4:

-  case DMA2D_FMT_A8:

-  case DMA2D_FMT_A4:

-    return true;                            /* 8-bit alignment.*/

-  default:

-    osalDbgAssert(false, "invalid format");

-    return false;

-  }

-}

-

-/**

- * @brief   Compute bits per pixel.

- * @details Computes the bits per pixel for the specified pixel format.

- *

- * @param[in] fmt       pixel format

- *

- * @retuen              bits per pixel

- *

- * @api

- */

-size_t dma2dBitsPerPixel(dma2d_pixfmt_t fmt) {

-

-  osalDbgAssert(fmt < DMA2D_MAX_PIXFMT_ID, "invalid format");

-

-  return (size_t)dma2d_bpp[(unsigned)fmt];

-}

-

-#if DMA2D_USE_SOFTWARE_CONVERSIONS || defined(__DOXYGEN__)

-

-/**

- * @brief   Convert from ARGB-8888.

- * @details Converts an ARGB-8888 color to the specified pixel format.

- *

- * @param[in] c         color, ARGB-8888

- * @param[in] fmt       target pixel format

- *

- * @return              raw color value for the target pixel format, left

- *                      padded with zeros.

- *

- * @api

- */

-dma2d_color_t dma2dFromARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt) {

-

-  switch (fmt) {

-  case DMA2D_FMT_ARGB8888: {

-    return c;

-  }

-  case DMA2D_FMT_RGB888: {

-    return (c & 0x00FFFFFF);

-  }

-  case DMA2D_FMT_RGB565: {

-    return (((c & 0x000000F8) >> ( 8 -  5)) |

-            ((c & 0x0000FC00) >> (16 - 11)) |

-            ((c & 0x00F80000) >> (24 - 16)));

-  }

-  case DMA2D_FMT_ARGB1555: {

-    return (((c & 0x000000F8) >> ( 8 -  5)) |

-            ((c & 0x0000F800) >> (16 - 10)) |

-            ((c & 0x00F80000) >> (24 - 15)) |

-            ((c & 0x80000000) >> (32 - 16)));

-  }

-  case DMA2D_FMT_ARGB4444: {

-    return (((c & 0x000000F0) >> ( 8 -  4)) |

-            ((c & 0x0000F000) >> (16 -  8)) |

-            ((c & 0x00F00000) >> (24 - 12)) |

-            ((c & 0xF0000000) >> (32 - 16)));

-  }

-  case DMA2D_FMT_L8: {

-    return (c & 0x000000FF);

-  }

-  case DMA2D_FMT_AL44: {

-    return (((c & 0x000000F0) >> ( 8 - 4)) |

-            ((c & 0xF0000000) >> (32 - 8)));

-  }

-  case DMA2D_FMT_AL88: {

-    return (((c & 0x000000FF) >> ( 8 -  8)) |

-            ((c & 0xFF000000) >> (32 - 16)));

-  }

-  case DMA2D_FMT_L4: {

-    return (c & 0x0000000F);

-  }

-  case DMA2D_FMT_A8: {

-    return ((c & 0xFF000000) >> (32 - 8));

-  }

-  case DMA2D_FMT_A4: {

-    return ((c & 0xF0000000) >> (32 - 4));

-  }

-  default:

-    osalDbgAssert(false, "invalid format");

-    return 0;

-  }

-}

-

-/**

- * @brief   Convert to ARGB-8888.

- * @details Converts color of the specified pixel format to an ARGB-8888 color.

- *

- * @param[in] c         color for the source pixel format, left padded with

- *                      zeros.

- * @param[in] fmt       source pixel format

- *

- * @return              color in ARGB-8888 format

- *

- * @api

- */

-dma2d_color_t dma2dToARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt) {

-

-  switch (fmt) {

-  case DMA2D_FMT_ARGB8888: {

-    return c;

-  }

-  case DMA2D_FMT_RGB888: {

-    return ((c & 0x00FFFFFF) | 0xFF000000);

-  }

-  case DMA2D_FMT_RGB565: {

-    register dma2d_color_t output = 0xFF000000;

-    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);

-    if (c & 0x07E0) output |= (((c & 0x07E0) << (16 - 11)) | 0x00000300);

-    if (c & 0xF800) output |= (((c & 0xF800) << (24 - 16)) | 0x00070000);

-    return output;

-  }

-  case DMA2D_FMT_ARGB1555: {

-    register dma2d_color_t output = 0x00000000;

-    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);

-    if (c & 0x03E0) output |= (((c & 0x03E0) << (16 - 10)) | 0x00000700);

-    if (c & 0x7C00) output |= (((c & 0x7C00) << (24 - 15)) | 0x00070000);

-    if (c & 0x8000) output |= 0xFF000000;

-    return output;

-  }

-  case DMA2D_FMT_ARGB4444: {

-    register dma2d_color_t output = 0x00000000;

-    if (c & 0x000F) output |= (((c & 0x000F) << ( 8 -  4)) | 0x0000000F);

-    if (c & 0x00F0) output |= (((c & 0x00F0) << (16 -  8)) | 0x00000F00);

-    if (c & 0x0F00) output |= (((c & 0x0F00) << (24 - 12)) | 0x000F0000);

-    if (c & 0xF000) output |= (((c & 0xF000) << (32 - 16)) | 0x0F000000);

-    return output;

-  }

-  case DMA2D_FMT_L8: {

-    return (c & 0xFF) | 0xFF000000;

-  }

-  case DMA2D_FMT_AL44: {

-    register dma2d_color_t output = 0x00000000;

-    if (c & 0x0F) output |= (((c & 0x0F) << ( 8 - 4)) | 0x0000000F);

-    if (c & 0xF0) output |= (((c & 0xF0) << (32 - 8)) | 0x0F000000);

-    return output;

-  }

-  case DMA2D_FMT_AL88: {

-    return (((c & 0x00FF) << ( 8 -  8)) |

-            ((c & 0xFF00) << (32 - 16)));

-  }

-  case DMA2D_FMT_L4: {

-    return ((c & 0x0F) | 0xFF000000);

-  }

-  case DMA2D_FMT_A8: {

-    return ((c & 0xFF) << (32 - 8));

-  }

-  case DMA2D_FMT_A4: {

-    return ((c & 0x0F) << (32 - 4));

-  }

-  default:

-    osalDbgAssert(false, "invalid format");

-    return 0;

-  }

-}

-

-#endif  /* DMA2D_NEED_CONVERSIONS */

-

-/** @} */

-

-/** @} */

-

-#endif  /* STM32_DMA2D_USE_DMA2D */

+/*
+    Copyright (C) 2013-2015 Andrea Zoppi
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    stm32_dma2d.c
+ * @brief   DMA2D/Chrom-ART driver.
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "hal_stm32_dma2d.h"
+
+#if STM32_DMA2D_USE_DMA2D || defined(__DOXYGEN__)
+
+/* Ignore annoying warning messages for actually safe code.*/
+#if defined(__GNUC__) && !defined(__DOXYGEN__)
+#pragma GCC diagnostic ignored "-Wtype-limits"
+#endif
+
+/**
+ * @addtogroup dma2d
+ * @{
+ */
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/** @brief DMA2DD1 driver identifier.*/
+DMA2DDriver DMA2DD1;
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Bits per pixel lookup table.
+ */
+static const uint8_t dma2d_bpp[DMA2D_MAX_PIXFMT_ID + 1] = {
+  32,  /* DMA2D_FMT_ARGB8888 */
+  24,  /* DMA2D_FMT_RGB888 */
+  16,  /* DMA2D_FMT_RGB565 */
+  16,  /* DMA2D_FMT_ARGB1555 */
+  16,  /* DMA2D_FMT_ARGB4444 */
+   8,  /* DMA2D_FMT_L8 */
+   8,  /* DMA2D_FMT_AL44 */
+  16,  /* DMA2D_FMT_AL88 */
+   4,  /* DMA2D_FMT_L4 */
+   8,  /* DMA2D_FMT_A8 */
+   4   /* DMA2D_FMT_A4 */
+};
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @name    DMA2D interrupt handlers
+ * @{
+ */
+
+/**
+ * @brief   DMA2D global interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(STM32_DMA2D_HANDLER) {
+
+  DMA2DDriver *const dma2dp = &DMA2DD1;
+  bool job_done = false;
+  thread_t *tp = NULL;
+
+  OSAL_IRQ_PROLOGUE();
+
+  /* Handle Configuration Error ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_CEIF) && (DMA2D->CR & DMA2D_CR_CEIE)) {
+    if (dma2dp->config->cfgerr_isr != NULL)
+      dma2dp->config->cfgerr_isr(dma2dp);
+    job_done = true;
+    DMA2D->IFCR |= DMA2D_IFSR_CCEIF;
+  }
+
+  /* Handle CLUT (Palette) Transfer Complete ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_CTCIF) && (DMA2D->CR & DMA2D_CR_CTCIE)) {
+    if (dma2dp->config->paltrfdone_isr != NULL)
+      dma2dp->config->paltrfdone_isr(dma2dp);
+    job_done = true;
+    DMA2D->IFCR |= DMA2D_IFSR_CCTCIF;
+  }
+
+  /* Handle CLUT (Palette) Access Error ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_CAEIF) && (DMA2D->CR & DMA2D_CR_CAEIE)) {
+    if (dma2dp->config->palacserr_isr != NULL)
+      dma2dp->config->palacserr_isr(dma2dp);
+    job_done = true;
+    DMA2D->IFCR |= DMA2D_IFSR_CCAEIF;
+  }
+
+  /* Handle Transfer Watermark ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_TWIF) && (DMA2D->CR & DMA2D_CR_TWIE)) {
+    if (dma2dp->config->trfwmark_isr != NULL)
+      dma2dp->config->trfwmark_isr(dma2dp);
+    DMA2D->IFCR |= DMA2D_IFSR_CTWIF;
+  }
+
+  /* Handle Transfer Complete ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_TCIF) && (DMA2D->CR & DMA2D_CR_TCIE)) {
+    if (dma2dp->config->trfdone_isr != NULL)
+      dma2dp->config->trfdone_isr(dma2dp);
+    job_done = true;
+    DMA2D->IFCR |= DMA2D_IFSR_CTCIF;
+  }
+
+  /* Handle Transfer Error ISR.*/
+  if ((DMA2D->ISR & DMA2D_ISR_TEIF) && (DMA2D->CR & DMA2D_CR_TEIE)) {
+    if (dma2dp->config->trferr_isr != NULL)
+      dma2dp->config->trferr_isr(dma2dp);
+    job_done = true;
+    DMA2D->IFCR |= DMA2D_IFSR_CTEIF;
+  }
+
+  if (job_done) {
+    osalSysLockFromISR();
+    osalDbgAssert(dma2dp->state == DMA2D_ACTIVE, "invalid state");
+
+  #if DMA2D_USE_WAIT
+    /* Wake the waiting thread up.*/
+    if (dma2dp->thread != NULL) {
+      tp = dma2dp->thread;
+      dma2dp->thread = NULL;
+      tp->u.rdymsg = MSG_OK;
+      chSchReadyI(tp);
+    }
+  #endif  /* DMA2D_USE_WAIT */
+
+    dma2dp->state = DMA2D_READY;
+    osalSysUnlockFromISR();
+  }
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D driver-specific methods
+ * @{
+ */
+
+/**
+ * @brief   DMA2D Driver initialization.
+ * @details Initializes the DMA2D subsystem and chosen drivers. Should be
+ *          called at board initialization.
+ *
+ * @init
+ */
+void dma2dInit(void) {
+
+  /* Reset the DMA2D hardware module.*/
+  rccResetDMA2D();
+
+  /* Enable the DMA2D clock.*/
+  rccEnableDMA2D(false);
+
+  /* Driver struct initialization.*/
+  dma2dObjectInit(&DMA2DD1);
+  DMA2DD1.state = DMA2D_STOP;
+}
+
+/**
+ * @brief   Initializes the standard part of a @p DMA2DDriver structure.
+ *
+ * @param[out] dma2dp   pointer to the @p DMA2DDriver object
+ *
+ * @init
+ */
+void dma2dObjectInit(DMA2DDriver *dma2dp) {
+
+  osalDbgCheck(dma2dp == &DMA2DD1);
+
+  dma2dp->state = DMA2D_UNINIT;
+  dma2dp->config = NULL;
+#if DMA2D_USE_WAIT
+  dma2dp->thread = NULL;
+#endif  /* DMA2D_USE_WAIT */
+#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxObjectInit(&dma2dp->lock);
+#else
+  chSemObjectInit(&dma2dp->lock, 1);
+#endif
+#endif  /* (TRUE == DMA2D_USE_MUTUAL_EXCLUSION) */
+}
+
+/**
+ * @brief   Get the driver state.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @retun               driver state
+ *
+ * @iclass
+ */
+dma2d_state_t dma2dGetStateI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheckClassI();
+
+  return dma2dp->state;
+}
+
+/**
+ * @brief   Get the driver state.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @retun               driver state
+ *
+ * @api
+ */
+dma2d_state_t dma2dGetState(DMA2DDriver *dma2dp) {
+
+  dma2d_state_t state;
+  chSysLock();
+  state = dma2dGetStateI(dma2dp);
+  chSysUnlock();
+  return state;
+}
+
+/**
+ * @brief   Configures and activates the DMA2D peripheral.
+ * @pre     DMA2D is stopped.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] configp   pointer to the @p DMA2DConfig object
+ *
+ * @api
+ */
+void dma2dStart(DMA2DDriver *dma2dp, const DMA2DConfig *configp) {
+
+  chSysLock();
+
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(configp != NULL);
+  osalDbgAssert(dma2dp->state == DMA2D_STOP, "invalid state");
+
+  dma2dp->config = configp;
+
+  /* Turn off the controller and its interrupts.*/
+  DMA2D->CR = 0;
+
+  /* Enable interrupts, except Line Watermark.*/
+  nvicEnableVector(STM32_DMA2D_NUMBER, STM32_DMA2D_IRQ_PRIORITY);
+
+  DMA2D->CR = (DMA2D_CR_CEIE | DMA2D_CR_CTCIE | DMA2D_CR_CAEIE |
+               DMA2D_CR_TCIE | DMA2D_CR_TEIE);
+
+  dma2dp->state = DMA2D_READY;
+  chSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the DMA2D peripheral.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dStop(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "invalid state");
+#if DMA2D_USE_WAIT
+  osalDbgAssert(dma2dp->thread == NULL, "still waiting");
+#endif  /* DMA2D_USE_WAIT */
+
+  dma2dp->state = DMA2D_STOP;
+  chSysUnlock();
+}
+
+#if DMA2D_USE_MUTUAL_EXCLUSION
+
+/**
+ * @brief   Gains exclusive access to the DMA2D module.
+ * @details This function tries to gain ownership to the DMA2D module, if the
+ *          module is already being used then the invoking thread is queued.
+ * @pre     In order to use this function the option
+ *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @sclass
+ */
+void dma2dAcquireBusS(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxLockS(&dma2dp->lock);
+#else
+  chSemWaitS(&dma2dp->lock);
+#endif
+}
+
+/**
+ * @brief   Gains exclusive access to the DMA2D module.
+ * @details This function tries to gain ownership to the DMA2D module, if the
+ *          module is already being used then the invoking thread is queued.
+ * @pre     In order to use this function the option
+ *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dAcquireBus(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dAcquireBusS(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Releases exclusive access to the DMA2D module.
+ * @pre     In order to use this function the option
+ *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @sclass
+ */
+void dma2dReleaseBusS(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxUnlockS(&dma2dp->lock);
+#else
+  chSemSignalI(&dma2dp->lock);
+#endif
+}
+
+/**
+ * @brief   Releases exclusive access to the DMA2D module.
+ * @pre     In order to use this function the option
+ *          @p DMA2D_USE_MUTUAL_EXCLUSION must be enabled.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dReleaseBus(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dReleaseBusS(dma2dp);
+  chSysUnlock();
+}
+
+#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */
+
+/** @} */
+
+/**
+ * @name    DMA2D global methods
+ * @{
+ */
+
+/**
+ * @brief   Get watermark position.
+ * @details Gets the watermark line position.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              watermark line position
+ *
+ * @iclass
+ */
+uint16_t dma2dGetWatermarkPosI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (uint16_t)(DMA2D->LWR & DMA2D_LWR_LW);
+}
+
+/**
+ * @brief   Get watermark position.
+ * @details Gets the watermark line position.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              watermark line position
+ *
+ * @api
+ */
+uint16_t dma2dGetWatermarkPos(DMA2DDriver *dma2dp) {
+
+  uint16_t line;
+  chSysLock();
+  line = dma2dGetWatermarkPosI(dma2dp);
+  chSysUnlock();
+  return line;
+}
+
+/**
+ * @brief   Set watermark position.
+ * @details Sets the watermark line position.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] line      watermark line position
+ *
+ * @iclass
+ */
+void dma2dSetWatermarkPosI(DMA2DDriver *dma2dp, uint16_t line) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->LWR = ((DMA2D->LWR & ~DMA2D_LWR_LW) |
+                ((uint32_t)line & DMA2D_LWR_LW));
+}
+
+/**
+ * @brief   Set watermark position.
+ * @details Sets the watermark line position.
+ * @note    The interrupt is invoked after the last pixel of the watermark line
+ *          is written.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] line      watermark line position
+ *
+ * @iclass
+ */
+void dma2dSetWatermarkPos(DMA2DDriver *dma2dp, uint16_t line) {
+
+  chSysLock();
+  dma2dSetWatermarkPosI(dma2dp, line);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Watermark interrupt enabled.
+ * @details Tells whether the watermark interrupt is enabled.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool dma2dIsWatermarkEnabledI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (DMA2D->CR & DMA2D_CR_TWIE) != 0;
+}
+
+/**
+ * @brief   Watermark interrupt enabled.
+ * @details Tells whether the watermark interrupt is enabled.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool dma2dIsWatermarkEnabled(DMA2DDriver *dma2dp) {
+
+  bool enabled;
+  chSysLock();
+  enabled = dma2dIsWatermarkEnabledI(dma2dp);
+  chSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable watermark interrupt.
+ * @details Enables the watermark interrupt. The interrupt is invoked after the
+ *          last pixel of the watermark line is written to the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dEnableWatermarkI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  DMA2D->CR |= DMA2D_CR_TWIE;
+}
+
+/**
+ * @brief   Enable watermark interrupt.
+ * @details Enables the watermark interrupt. The interrupt is invoked after the
+ *          last pixel of the watermark line is written to the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dEnableWatermark(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dEnableWatermarkI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Disable watermark interrupt.
+ * @details Disables the watermark interrupt.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dDisableWatermarkI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  DMA2D->CR &= ~DMA2D_CR_TWIE;
+}
+
+/**
+ * @brief   Disable watermark interrupt.
+ * @details Disables the watermark interrupt.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dDisableWatermark(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dDisableWatermarkI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get dead time cycles.
+ * @details Gets the minimum dead time DMA2D clock cycles between DMA2D
+ *          transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              dead time, in DMA2D clock cycles
+ *
+ * @iclass
+ */
+uint32_t dma2dGetDeadTimeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (DMA2D->AMTCR & DMA2D_AMTCR_DT) >> 8;
+}
+
+/**
+ * @brief   Get dead time cycles.
+ * @details Gets the minimum dead time DMA2D clock cycles between DMA2D
+ *          transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              dead time, in DMA2D clock cycles
+ *
+ * @api
+ */
+uint32_t dma2dGetDeadTime(DMA2DDriver *dma2dp) {
+
+  uint32_t cycles;
+  chSysLock();
+  cycles = dma2dGetDeadTimeI(dma2dp);
+  chSysUnlock();
+  return cycles;
+}
+
+/**
+ * @brief   Set dead time cycles.
+ * @details Sets the minimum dead time DMA2D clock cycles between DMA2D
+ *          transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cycles    dead time, in DMA2D clock cycles
+ *
+ * @iclass
+ */
+void dma2dSetDeadTimeI(DMA2DDriver *dma2dp, uint32_t cycles) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(cycles <= DMA2D_MAX_DEADTIME_CYCLES, "bounds");
+  (void)dma2dp;
+
+  DMA2D->AMTCR = ((DMA2D->AMTCR & ~DMA2D_AMTCR_DT) |
+                  ((cycles << 8) & DMA2D_AMTCR_DT));
+}
+
+/**
+ * @brief   Set dead time cycles.
+ * @details Sets the minimum dead time DMA2D clock cycles between DMA2D
+ *          transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cycles    dead time, in DMA2D clock cycles
+ *
+ * @api
+ */
+void dma2dSetDeadTime(DMA2DDriver *dma2dp, uint32_t cycles) {
+
+  chSysLock();
+  dma2dSetDeadTimeI(dma2dp, cycles);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Dead time enabled.
+ * @details Tells whether the dead time between DMA2D transactions is enabled.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool dma2dIsDeadTimeEnabledI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (DMA2D->AMTCR & DMA2D_AMTCR_EN) != 0;
+}
+
+/**
+ * @brief   Dead time enabled.
+ * @details Tells whether the dead time between DMA2D transactions is enabled.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool dma2dIsDeadTimeEnabled(DMA2DDriver *dma2dp) {
+
+  bool enabled;
+  chSysLock();
+  enabled = dma2dIsDeadTimeEnabledI(dma2dp);
+  chSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable dead time.
+ * @details Enables the dead time between DMA2D transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dEnableDeadTimeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  DMA2D->AMTCR |= DMA2D_AMTCR_EN;
+}
+
+/**
+ * @brief   Enable dead time.
+ * @details Enables the dead time between DMA2D transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dEnableDeadTime(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dEnableDeadTimeI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Disable dead time.
+ * @details Disables the dead time between DMA2D transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dDisableDeadTimeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  DMA2D->AMTCR &= ~DMA2D_AMTCR_EN;
+}
+
+/**
+ * @brief   Disable dead time.
+ * @details Disables the dead time between DMA2D transactions.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dDisableDeadTime(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dDisableDeadTimeI(dma2dp);
+  chSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D job (transaction) methods
+ * @{
+ */
+
+/**
+ * @brief   Get job mode.
+ * @details Gets the job mode.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              job mode
+ *
+ * @iclass
+ */
+dma2d_jobmode_t dma2dJobGetModeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_jobmode_t)(DMA2D->CR & DMA2D_CR_MODE);
+}
+
+/**
+ * @brief   Get job mode.
+ * @details Gets the job mode.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              job mode
+ *
+ * @api
+ */
+dma2d_jobmode_t dma2dJobGetMode(DMA2DDriver *dma2dp) {
+
+  dma2d_jobmode_t mode;
+  chSysLock();
+  mode = dma2dJobGetModeI(dma2dp);
+  chSysUnlock();
+  return mode;
+}
+
+/**
+ * @brief   Set job mode.
+ * @details Sets the job mode.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      job mode
+ *
+ * @iclass
+ */
+void dma2dJobSetModeI(DMA2DDriver *dma2dp, dma2d_jobmode_t mode) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert((mode & ~DMA2D_CR_MODE) == 0, "bounds");
+  (void)dma2dp;
+
+  DMA2D->CR = ((DMA2D->CR & ~DMA2D_CR_MODE) |
+               ((uint32_t)mode & DMA2D_CR_MODE));
+}
+
+/**
+ * @brief   Set job mode.
+ * @details Sets the job mode.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      job mode
+ *
+ * @api
+ */
+void dma2dJobSetMode(DMA2DDriver *dma2dp, dma2d_jobmode_t mode) {
+
+  chSysLock();
+  dma2dJobSetModeI(dma2dp, mode);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get job size.
+ * @details Gets the job size.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] widthp   pointer to the job width, in pixels
+ * @param[out] heightp  pointer to the job height, in pixels
+ *
+ * @iclass
+ */
+void dma2dJobGetSizeI(DMA2DDriver *dma2dp,
+                      uint16_t *widthp, uint16_t *heightp) {
+
+  uint32_t r;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(widthp != NULL);
+  osalDbgCheck(heightp != NULL);
+  (void)dma2dp;
+
+  r = DMA2D->NLR;
+  *widthp  = (uint16_t)((r & DMA2D_NLR_PL) >> 16);
+  *heightp = (uint16_t)((r & DMA2D_NLR_NL) >>  0);
+}
+
+/**
+ * @brief   Get job size.
+ * @details Gets the job size.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] widthp   pointer to the job width, in pixels
+ * @param[out] heightp  pointer to the job height, in pixels
+ *
+ * @api
+ */
+void dma2dJobGetSize(DMA2DDriver *dma2dp,
+                     uint16_t *widthp, uint16_t *heightp) {
+
+  chSysLock();
+  dma2dJobGetSizeI(dma2dp, widthp, heightp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set job size.
+ * @details Sets the job size.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] widthp    job width, in pixels
+ * @param[in] heightp   job height, in pixels
+ *
+ * @iclass
+ */
+void dma2dJobSetSizeI(DMA2DDriver *dma2dp, uint16_t width, uint16_t height) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(width <= DMA2D_MAX_WIDTH, "bounds");
+  osalDbgAssert(height <= DMA2D_MAX_HEIGHT, "bounds");
+  (void)dma2dp;
+
+  DMA2D->NLR = ((((uint32_t)width  << 16) & DMA2D_NLR_PL) |
+                (((uint32_t)height <<  0) & DMA2D_NLR_NL));
+}
+
+/**
+ * @brief   Set job size.
+ * @details Sets the job size.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] widthp    job width, in pixels
+ * @param[in] heightp   job height, in pixels
+ *
+ * @api
+ */
+void dma2dJobSetSize(DMA2DDriver *dma2dp, uint16_t width, uint16_t height) {
+
+  chSysLock();
+  dma2dJobSetSizeI(dma2dp, width, height);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Job executing.
+ * @details Tells whether a job (transaction) is active or paused.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              executing
+ *
+ * @iclass
+ */
+bool dma2dJobIsExecutingI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+
+  return dma2dp->state > DMA2D_READY;
+}
+
+/**
+ * @brief   Job executing.
+ * @details Tells whether a job (transaction) is active or paused.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              executing
+ *
+ * @api
+ */
+bool dma2dJobIsExecuting(DMA2DDriver *dma2dp) {
+
+  bool executing;
+  chSysLock();
+  executing = dma2dJobIsExecutingI(dma2dp);
+  chSysUnlock();
+  return executing;
+}
+
+/**
+ * @brief   Start job.
+ * @details The job is started, and the DMA2D is set to active.
+ * @note    Should there be invalid parameters, the appropriate interrupt
+ *          handler will be invoked, and the DMA2D set back to ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dJobStartI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+
+  dma2dp->state = DMA2D_ACTIVE;
+  DMA2D->CR |= DMA2D_CR_START;
+}
+
+/**
+ * @brief   Start job.
+ * @details The job is started, and the DMA2D is set to active.
+ * @note    Should there be invalid parameters, the appropriate interrupt
+ *          handler will be invoked, and the DMA2D set back to ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dJobStart(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dJobStartI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Execute job.
+ * @details Starts the job and waits for its completion, synchronously.
+ * @note    Should there be invalid parameters, the appropriate interrupt
+ *          handler will be invoked, and the DMA2D set back to ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @sclass
+ */
+void dma2dJobExecuteS(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+
+  dma2dJobStartI(dma2dp);
+#if DMA2D_USE_WAIT
+  dma2dp->thread = chThdGetSelfX();
+  chSchGoSleepS(CH_STATE_SUSPENDED);
+#else
+  while (DMA2D->CR & DMA2D_CR_START)
+    chSchDoYieldS();
+#endif
+}
+
+/**
+ * @brief   Execute job.
+ * @details Starts the job and waits for its completion, synchronously.
+ * @note    Should there be invalid parameters, the appropriate interrupt
+ *          handler will be invoked, and the DMA2D set back to ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dJobExecute(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dJobExecuteS(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Suspend current job.
+ * @details Suspends the current job. The driver is set to a paused state.
+ * @pre     There is an active job.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dJobSuspendI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) == 0);
+  osalDbgAssert(dma2dp->state == DMA2D_ACTIVE, "invalid state");
+
+  dma2dp->state = DMA2D_PAUSED;
+  DMA2D->CR |= DMA2D_CR_SUSP;
+}
+
+/**
+ * @brief   Suspend current job.
+ * @details Suspends the current job. The driver is set to a paused state.
+ * @pre     There is an active job.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dJobSuspend(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dJobSuspendI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Resume current job.
+ * @details Resumes the current job.
+ * @pre     There is a paused job.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dJobResumeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) != 0);
+  osalDbgAssert(dma2dp->state == DMA2D_PAUSED, "invalid state");
+
+  dma2dp->state = DMA2D_ACTIVE;
+  DMA2D->CR &= ~DMA2D_CR_SUSP;
+}
+
+/**
+ * @brief   Resume current job.
+ * @details Resumes the current job.
+ * @pre     There is a paused job.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dJobResume(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dJobResumeI(dma2dp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Abort current job.
+ * @details Abots the current job (if any), and the driver becomes ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @iclass
+ */
+void dma2dJobAbortI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck((DMA2D->CR & DMA2D_CR_SUSP) == 0);
+  osalDbgAssert(dma2dp->state >= DMA2D_READY, "invalid state");
+
+  dma2dp->state = DMA2D_READY;
+  DMA2D->CR |= DMA2D_CR_ABORT;
+}
+
+/**
+ * @brief   Abort current job.
+ * @details Abots the current job (if any), and the driver becomes ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @api
+ */
+void dma2dJobAbort(DMA2DDriver *dma2dp) {
+
+  chSysLock();
+  dma2dJobAbortI(dma2dp);
+  chSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D background layer methods
+ * @{
+ */
+
+/**
+ * @brief   Get background layer buffer address.
+ * @details Gets the buffer address of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @iclass
+ */
+void *dma2dBgGetAddressI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (void *)DMA2D->BGMAR;
+}
+
+/**
+ * @brief   Get background layer buffer address.
+ * @details Gets the buffer address of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @api
+ */
+void *dma2dBgGetAddress(DMA2DDriver *dma2dp) {
+
+  void *bufferp;
+  chSysLock();
+  bufferp = dma2dBgGetAddressI(dma2dp);
+  chSysUnlock();
+  return bufferp;
+}
+
+/**
+ * @brief   Set background layer buffer address.
+ * @details Sets the buffer address of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @iclass
+ */
+void dma2dBgSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(dma2dIsAligned(bufferp, dma2dBgGetPixelFormatI(dma2dp)));
+  (void)dma2dp;
+
+  DMA2D->BGMAR = (uint32_t)bufferp;
+}
+
+/**
+ * @brief   Set background layer buffer address.
+ * @details Sets the buffer address of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @api
+ */
+void dma2dBgSetAddress(DMA2DDriver *dma2dp, void *bufferp) {
+
+  chSysLock();
+  dma2dBgSetAddressI(dma2dp, bufferp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer wrap offset.
+ * @details Gets the buffer line wrap offset of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @iclass
+ */
+size_t dma2dBgGetWrapOffsetI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (size_t)(DMA2D->BGOR & DMA2D_BGOR_LO);
+}
+
+/**
+ * @brief   Get background layer wrap offset.
+ * @details Gets the buffer line wrap offset of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @api
+ */
+size_t dma2dBgGetWrapOffset(DMA2DDriver *dma2dp) {
+
+  size_t offset;
+  chSysLock();
+  offset = dma2dBgGetWrapOffsetI(dma2dp);
+  chSysUnlock();
+  return offset;
+}
+
+/**
+ * @brief   Set background layer wrap offset.
+ * @details Sets the buffer line wrap offset of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @iclass
+ */
+void dma2dBgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");
+  (void)dma2dp;
+
+  DMA2D->BGOR = ((DMA2D->BGOR & ~DMA2D_BGOR_LO) |
+                 ((uint32_t)offset & DMA2D_BGOR_LO));
+}
+
+/**
+ * @brief   Set background layer wrap offset.
+ * @details Sets the buffer line wrap offset of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @api
+ */
+void dma2dBgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {
+
+  chSysLock();
+  dma2dBgSetWrapOffsetI(dma2dp, offset);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer constant alpha.
+ * @details Gets the constant alpha component of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @iclass
+ */
+uint8_t dma2dBgGetConstantAlphaI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (uint8_t)((DMA2D->BGPFCCR & DMA2D_BGPFCCR_ALPHA) >> 24);
+}
+
+/**
+ * @brief   Get background layer constant alpha.
+ * @details Gets the constant alpha component of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @api
+ */
+uint8_t dma2dBgGetConstantAlpha(DMA2DDriver *dma2dp) {
+
+  uint8_t a;
+  chSysLock();
+  a = dma2dBgGetConstantAlphaI(dma2dp);
+  chSysUnlock();
+  return a;
+}
+
+/**
+ * @brief   Set background layer constant alpha.
+ * @details Sets the constant alpha component of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @iclass
+ */
+void dma2dBgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_ALPHA) |
+                    (((uint32_t)a << 24) & DMA2D_BGPFCCR_ALPHA));
+}
+
+/**
+ * @brief   Set background layer constant alpha.
+ * @details Sets the constant alpha component of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @api
+ */
+void dma2dBgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a) {
+
+  chSysLock();
+  dma2dBgSetConstantAlphaI(dma2dp, a);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer alpha mode.
+ * @details Gets the alpha mode of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              alpha mode
+ *
+ * @iclass
+ */
+dma2d_amode_t dma2dBgGetAlphaModeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_amode_t)(DMA2D->BGPFCCR & DMA2D_BGPFCCR_AM);
+}
+
+/**
+ * @brief   Get background layer alpha mode.
+ * @details Gets the alpha mode of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              alpha mode
+ *
+ * @api
+ */
+dma2d_amode_t dma2dBgGetAlphaMode(DMA2DDriver *dma2dp) {
+
+  dma2d_amode_t mode;
+  chSysLock();
+  mode = dma2dBgGetAlphaModeI(dma2dp);
+  chSysUnlock();
+  return mode;
+}
+
+/**
+ * @brief   Set background layer alpha mode.
+ * @details Sets the alpha mode of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      alpha mode
+ *
+ * @iclass
+ */
+void dma2dBgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert((mode & ~DMA2D_BGPFCCR_AM) == 0, "bounds");
+  osalDbgAssert((mode & DMA2D_BGPFCCR_AM) != DMA2D_BGPFCCR_AM, "bounds");
+  (void)dma2dp;
+
+  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_AM) |
+                    ((uint32_t)mode & DMA2D_BGPFCCR_AM));
+}
+
+/**
+ * @brief   Set background layer alpha mode.
+ * @details Sets the alpha mode of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      alpha mode
+ *
+ * @api
+ */
+void dma2dBgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode) {
+
+  chSysLock();
+  dma2dBgSetAlphaModeI(dma2dp, mode);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer pixel format.
+ * @details Gets the pixel format of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @iclass
+ */
+dma2d_pixfmt_t dma2dBgGetPixelFormatI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_pixfmt_t)(DMA2D->BGPFCCR & DMA2D_BGPFCCR_CM);
+}
+
+/**
+ * @brief   Get background layer pixel format.
+ * @details Gets the pixel format of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @api
+ */
+dma2d_pixfmt_t dma2dBgGetPixelFormat(DMA2DDriver *dma2dp) {
+
+  dma2d_pixfmt_t fmt;
+  chSysLock();
+  fmt = dma2dBgGetPixelFormatI(dma2dp);
+  chSysUnlock();
+  return fmt;
+}
+
+/**
+ * @brief   Set background layer pixel format.
+ * @details Sets the pixel format of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @iclass
+ */
+void dma2dBgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(fmt <= DMA2D_MAX_PIXFMT_ID, "bounds");
+  (void)dma2dp;
+
+  DMA2D->BGPFCCR = ((DMA2D->BGPFCCR & ~DMA2D_BGPFCCR_CM) |
+                    ((uint32_t)fmt & DMA2D_BGPFCCR_CM));
+}
+
+/**
+ * @brief   Set background layer pixel format.
+ * @details Sets the pixel format of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @api
+ */
+void dma2dBgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  chSysLock();
+  dma2dBgSetPixelFormatI(dma2dp, fmt);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer default color.
+ * @details Gets the default color of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @iclass
+ */
+dma2d_color_t dma2dBgGetDefaultColorI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_color_t)(DMA2D->BGCOLR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get background layer default color.
+ * @details Gets the default color of the background layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @api
+ */
+dma2d_color_t dma2dBgGetDefaultColor(DMA2DDriver *dma2dp) {
+
+  dma2d_color_t c;
+  chSysLock();
+  c = dma2dBgGetDefaultColorI(dma2dp);
+  chSysUnlock();
+  return c;
+}
+
+/**
+ * @brief   Set background layer default color.
+ * @details Sets the default color of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @iclass
+ */
+void dma2dBgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->BGCOLR = (uint32_t)c & 0x00FFFFFF;
+}
+
+/**
+ * @brief   Set background layer default color.
+ * @details Sets the default color of the background layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @api
+ */
+void dma2dBgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  chSysLock();
+  dma2dBgSetDefaultColorI(dma2dp, c);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer palette specifications.
+ * @details Gets the palette specifications of the background layer.
+ * @note    The palette colors pointer is actually addressed to a @p volatile
+ *          memory zone.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] palettep pointer to the palette specifications
+ *
+ * @iclass
+ */
+void dma2dBgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {
+
+  uint32_t r;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(palettep != NULL);
+  (void)dma2dp;
+
+  r = DMA2D->BGPFCCR;
+  palettep->colorsp = (const void *)DMA2D->BGCLUT;
+  palettep->length = (uint16_t)((r & DMA2D_BGPFCCR_CS) >> 8) + 1;
+  palettep->fmt = (dma2d_pixfmt_t)((r & DMA2D_BGPFCCR_CCM) >> 4);
+}
+
+/**
+ * @brief   Get background layer palette specifications.
+ * @details Gets the palette specifications of the background layer.
+ * @note    The palette colors pointer is actually addressed to a @p volatile
+ *          memory zone.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] palettep pointer to the palette specifications
+ *
+ * @api
+ */
+void dma2dBgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {
+
+  chSysLock();
+  dma2dBgGetPaletteI(dma2dp, palettep);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set background layer palette specifications.
+ * @details Sets the palette specifications of the background layer.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] palettep  pointer to the palette specifications
+ *
+ * @sclass
+ */
+void dma2dBgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(palettep != NULL);
+  osalDbgCheck(palettep->colorsp != NULL);
+  osalDbgAssert(palettep->length > 0, "bounds");
+  osalDbgAssert(palettep->length <= DMA2D_MAX_PALETTE_LENGTH, "bounds");
+  osalDbgAssert(((palettep->fmt == DMA2D_FMT_ARGB8888) ||
+                 (palettep->fmt == DMA2D_FMT_RGB888)), "invalid format");
+
+  DMA2D->BGCMAR = (uint32_t)palettep->colorsp;
+  DMA2D->BGPFCCR = (
+    (DMA2D->BGPFCCR & ~(DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM)) |
+    ((((uint32_t)palettep->length - 1) << 8) & DMA2D_BGPFCCR_CS) |
+    ((uint32_t)palettep->fmt << 4)
+  );
+
+  dma2dp->state = DMA2D_ACTIVE;
+  DMA2D->BGPFCCR |= DMA2D_BGPFCCR_START;
+
+#if DMA2D_USE_WAIT
+  dma2dp->thread = chThdGetSelfX();
+  chSchGoSleepS(CH_STATE_SUSPENDED);
+#else
+  while (DMA2D->BGPFCCR & DMA2D_BGPFCCR_START)
+    chSchDoYieldS();
+#endif  /* DMA2D_USE_WAIT */
+}
+
+/**
+ * @brief   Set background layer palette specifications.
+ * @details Sets the palette specifications of the background layer.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] palettep  pointer to the palette specifications
+ *
+ * @api
+ */
+void dma2dBgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {
+
+  chSysLock();
+  dma2dBgSetPaletteS(dma2dp, palettep);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get background layer specifications.
+ * @details Gets the background layer specifications at once.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @iclass
+ */
+void dma2dBgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(cfgp != NULL);
+
+  cfgp->bufferp = dma2dBgGetAddressI(dma2dp);
+  cfgp->wrap_offset = dma2dBgGetWrapOffsetI(dma2dp);
+  cfgp->fmt = dma2dBgGetPixelFormatI(dma2dp);
+  cfgp->def_color = dma2dBgGetDefaultColorI(dma2dp);
+  cfgp->const_alpha = dma2dBgGetConstantAlphaI(dma2dp);
+  if (cfgp->palettep != NULL)
+    dma2dBgGetPaletteI(dma2dp, (dma2d_palcfg_t *)cfgp->palettep);
+}
+
+/**
+ * @brief   Get background layer specifications.
+ * @details Gets the background layer specifications at once.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dBgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dBgGetLayerI(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set background layer specifications.
+ * @details Sets the background layer specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @sclass
+ */
+void dma2dBgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(cfgp != NULL);
+
+  dma2dBgSetAddressI(dma2dp, cfgp->bufferp);
+  dma2dBgSetWrapOffsetI(dma2dp, cfgp->wrap_offset);
+  dma2dBgSetPixelFormatI(dma2dp, cfgp->fmt);
+  dma2dBgSetDefaultColorI(dma2dp, cfgp->def_color);
+  dma2dBgSetConstantAlphaI(dma2dp, cfgp->const_alpha);
+  if (cfgp->palettep != NULL)
+    dma2dBgSetPaletteS(dma2dp, cfgp->palettep);
+}
+
+/**
+ * @brief   Set background layer specifications.
+ * @details Sets the background layer specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dBgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dBgSetConfigS(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D foreground layer methods
+ * @{
+ */
+
+/**
+ * @brief   Get foreground layer buffer address.
+ * @details Gets the buffer address of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @iclass
+ */
+void *dma2dFgGetAddressI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (void *)DMA2D->FGMAR;
+}
+
+/**
+ * @brief   Get foreground layer buffer address.
+ * @details Gets the buffer address of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @api
+ */
+void *dma2dFgGetAddress(DMA2DDriver *dma2dp) {
+
+  void *bufferp;
+  chSysLock();
+  bufferp = dma2dFgGetAddressI(dma2dp);
+  chSysUnlock();
+  return bufferp;
+}
+
+/**
+ * @brief   Set foreground layer buffer address.
+ * @details Sets the buffer address of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @iclass
+ */
+void dma2dFgSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(dma2dIsAligned(bufferp, dma2dFgGetPixelFormatI(dma2dp)));
+  (void)dma2dp;
+
+  DMA2D->FGMAR = (uint32_t)bufferp;
+}
+
+/**
+ * @brief   Set foreground layer buffer address.
+ * @details Sets the buffer address of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @api
+ */
+void dma2dFgSetAddress(DMA2DDriver *dma2dp, void *bufferp) {
+
+  chSysLock();
+  dma2dFgSetAddressI(dma2dp, bufferp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer wrap offset.
+ * @details Gets the buffer line wrap offset of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @iclass
+ */
+size_t dma2dFgGetWrapOffsetI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (size_t)(DMA2D->FGOR & DMA2D_FGOR_LO);
+}
+
+/**
+ * @brief   Get foreground layer wrap offset.
+ * @details Gets the buffer line wrap offset of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @api
+ */
+size_t dma2dFgGetWrapOffset(DMA2DDriver *dma2dp) {
+
+  size_t offset;
+  chSysLock();
+  offset = dma2dFgGetWrapOffsetI(dma2dp);
+  chSysUnlock();
+  return offset;
+}
+
+/**
+ * @brief   Set foreground layer wrap offset.
+ * @details Sets the buffer line wrap offset of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @iclass
+ */
+void dma2dFgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");
+  (void)dma2dp;
+
+  DMA2D->FGOR = ((DMA2D->FGOR & ~DMA2D_FGOR_LO) |
+                 ((uint32_t)offset & DMA2D_FGOR_LO));
+}
+
+/**
+ * @brief   Set foreground layer wrap offset.
+ * @details Sets the buffer line wrap offset of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @api
+ */
+void dma2dFgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {
+
+  chSysLock();
+  dma2dFgSetWrapOffsetI(dma2dp, offset);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer constant alpha.
+ * @details Gets the constant alpha component of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @iclass
+ */
+uint8_t dma2dFgGetConstantAlphaI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (uint8_t)((DMA2D->FGPFCCR & DMA2D_FGPFCCR_ALPHA) >> 24);
+}
+
+/**
+ * @brief   Get foreground layer constant alpha.
+ * @details Gets the constant alpha component of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @api
+ */
+uint8_t dma2dFgGetConstantAlpha(DMA2DDriver *dma2dp) {
+
+  uint8_t a;
+  chSysLock();
+  a = dma2dFgGetConstantAlphaI(dma2dp);
+  chSysUnlock();
+  return a;
+}
+
+/**
+ * @brief   Set foreground layer constant alpha.
+ * @details Sets the constant alpha component of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @iclass
+ */
+void dma2dFgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_ALPHA) |
+                    (((uint32_t)a << 24) & DMA2D_FGPFCCR_ALPHA));
+}
+
+/**
+ * @brief   Set foreground layer constant alpha.
+ * @details Sets the constant alpha component of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @api
+ */
+void dma2dFgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a) {
+
+  chSysLock();
+  dma2dFgSetConstantAlphaI(dma2dp, a);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer alpha mode.
+ * @details Gets the alpha mode of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              alpha mode
+ *
+ * @iclass
+ */
+dma2d_amode_t dma2dFgGetAlphaModeI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_amode_t)(DMA2D->FGPFCCR & DMA2D_FGPFCCR_AM);
+}
+
+/**
+ * @brief   Get foreground layer alpha mode.
+ * @details Gets the alpha mode of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              alpha mode
+ *
+ * @api
+ */
+dma2d_amode_t dma2dFgGetAlphaMode(DMA2DDriver *dma2dp) {
+
+  dma2d_amode_t mode;
+  chSysLock();
+  mode = dma2dFgGetAlphaModeI(dma2dp);
+  chSysUnlock();
+  return mode;
+}
+
+/**
+ * @brief   Set foreground layer alpha mode.
+ * @details Sets the alpha mode of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      alpha mode
+ *
+ * @iclass
+ */
+void dma2dFgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert((mode & ~DMA2D_FGPFCCR_AM) == 0, "bounds");
+  osalDbgAssert((mode & DMA2D_FGPFCCR_AM) != DMA2D_FGPFCCR_AM, "bounds");
+  (void)dma2dp;
+
+  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_AM) |
+                    ((uint32_t)mode & DMA2D_FGPFCCR_AM));
+}
+
+/**
+ * @brief   Set foreground layer alpha mode.
+ * @details Sets the alpha mode of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] mode      alpha mode
+ *
+ * @api
+ */
+void dma2dFgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode) {
+
+  chSysLock();
+  dma2dFgSetAlphaModeI(dma2dp, mode);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer pixel format.
+ * @details Gets the pixel format of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @iclass
+ */
+dma2d_pixfmt_t dma2dFgGetPixelFormatI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_pixfmt_t)(DMA2D->FGPFCCR & DMA2D_FGPFCCR_CM);
+}
+
+/**
+ * @brief   Get foreground layer pixel format.
+ * @details Gets the pixel format of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @api
+ */
+dma2d_pixfmt_t dma2dFgGetPixelFormat(DMA2DDriver *dma2dp) {
+
+  dma2d_pixfmt_t fmt;
+  chSysLock();
+  fmt = dma2dFgGetPixelFormatI(dma2dp);
+  chSysUnlock();
+  return fmt;
+}
+
+/**
+ * @brief   Set foreground layer pixel format.
+ * @details Sets the pixel format of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @iclass
+ */
+void dma2dFgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(fmt <= DMA2D_MAX_PIXFMT_ID, "bounds");
+  (void)dma2dp;
+
+  DMA2D->FGPFCCR = ((DMA2D->FGPFCCR & ~DMA2D_FGPFCCR_CM) |
+                    ((uint32_t)fmt & DMA2D_FGPFCCR_CM));
+}
+
+/**
+ * @brief   Set foreground layer pixel format.
+ * @details Sets the pixel format of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @api
+ */
+void dma2dFgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  chSysLock();
+  dma2dFgSetPixelFormatI(dma2dp, fmt);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer default color.
+ * @details Gets the default color of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @iclass
+ */
+dma2d_color_t dma2dFgGetDefaultColorI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_color_t)(DMA2D->FGCOLR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get foreground layer default color.
+ * @details Gets the default color of the foreground layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @api
+ */
+dma2d_color_t dma2dFgGetDefaultColor(DMA2DDriver *dma2dp) {
+
+  dma2d_color_t c;
+  chSysLock();
+  c = dma2dFgGetDefaultColorI(dma2dp);
+  chSysUnlock();
+  return c;
+}
+
+/**
+ * @brief   Set foreground layer default color.
+ * @details Sets the default color of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @iclass
+ */
+void dma2dFgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->FGCOLR = (uint32_t)c & 0x00FFFFFF;
+}
+
+/**
+ * @brief   Set foreground layer default color.
+ * @details Sets the default color of the foreground layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @api
+ */
+void dma2dFgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  chSysLock();
+  dma2dFgSetDefaultColorI(dma2dp, c);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer palette specifications.
+ * @details Gets the palette specifications of the foreground layer.
+ * @note    The palette colors pointer is actually addressed to a @p volatile
+ *          memory zone.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] palettep pointer to the palette specifications
+ *
+ * @iclass
+ */
+void dma2dFgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {
+
+  uint32_t r;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(palettep != NULL);
+  (void)dma2dp;
+
+  r = DMA2D->FGPFCCR;
+  palettep->colorsp = (const void *)DMA2D->FGCLUT;
+  palettep->length = (uint16_t)((r & DMA2D_FGPFCCR_CS) >> 8) + 1;
+  palettep->fmt = (dma2d_pixfmt_t)((r & DMA2D_FGPFCCR_CCM) >> 4);
+}
+
+/**
+ * @brief   Get foreground layer palette specifications.
+ * @details Gets the palette specifications of the foreground layer.
+ * @note    The palette colors pointer is actually addressed to a @p volatile
+ *          memory zone.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] palettep pointer to the palette specifications
+ *
+ * @api
+ */
+void dma2dFgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep) {
+
+  chSysLock();
+  dma2dFgGetPaletteI(dma2dp, palettep);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer palette specifications.
+ * @details Sets the palette specifications of the foreground layer.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] palettep  pointer to the palette specifications
+ *
+ * @sclass
+ */
+void dma2dFgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(palettep != NULL);
+  osalDbgCheck(palettep->colorsp != NULL);
+  osalDbgAssert(palettep->length > 0, "bounds");
+  osalDbgAssert(palettep->length <= DMA2D_MAX_PALETTE_LENGTH, "bounds");
+  osalDbgAssert(((palettep->fmt == DMA2D_FMT_ARGB8888) ||
+                 (palettep->fmt == DMA2D_FMT_RGB888)), "invalid format");
+
+  DMA2D->FGCMAR = (uint32_t)palettep->colorsp;
+  DMA2D->FGPFCCR = (
+    (DMA2D->FGPFCCR & ~(DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM)) |
+    ((((uint32_t)palettep->length - 1) << 8) & DMA2D_FGPFCCR_CS) |
+    ((uint32_t)palettep->fmt << 4)
+  );
+
+  dma2dp->state = DMA2D_ACTIVE;
+  DMA2D->FGPFCCR |= DMA2D_FGPFCCR_START;
+
+#if DMA2D_USE_WAIT
+  dma2dp->thread = chThdGetSelfX();
+  chSchGoSleepS(CH_STATE_SUSPENDED);
+#else
+  while (DMA2D->FGPFCCR & DMA2D_FGPFCCR_START)
+    chSchDoYieldS();
+#endif  /* DMA2D_USE_WAIT */
+}
+
+/**
+ * @brief   Set foreground layer palette specifications.
+ * @details Sets the palette specifications of the foreground layer.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] palettep  pointer to the palette specifications
+ *
+ * @api
+ */
+void dma2dFgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep) {
+
+  chSysLock();
+  dma2dFgSetPaletteS(dma2dp, palettep);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer specifications.
+ * @details Gets the foreground layer specifications at once.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @iclass
+ */
+void dma2dFgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(cfgp != NULL);
+
+  cfgp->bufferp = dma2dFgGetAddressI(dma2dp);
+  cfgp->wrap_offset = dma2dFgGetWrapOffsetI(dma2dp);
+  cfgp->fmt = dma2dFgGetPixelFormatI(dma2dp);
+  cfgp->def_color = dma2dFgGetDefaultColorI(dma2dp);
+  cfgp->const_alpha = dma2dFgGetConstantAlphaI(dma2dp);
+  if (cfgp->palettep != NULL)
+    dma2dFgGetPaletteI(dma2dp, (dma2d_palcfg_t *)cfgp->palettep);
+}
+
+/**
+ * @brief   Get foreground layer specifications.
+ * @details Gets the foreground layer specifications at once.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dFgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dFgGetLayerI(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer specifications.
+ * @details Sets the foreground layer specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @sclass
+ */
+void dma2dFgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(cfgp != NULL);
+
+  dma2dFgSetAddressI(dma2dp, cfgp->bufferp);
+  dma2dFgSetWrapOffsetI(dma2dp, cfgp->wrap_offset);
+  dma2dFgSetPixelFormatI(dma2dp, cfgp->fmt);
+  dma2dFgSetDefaultColorI(dma2dp, cfgp->def_color);
+  dma2dFgSetConstantAlphaI(dma2dp, cfgp->const_alpha);
+  if (cfgp->palettep != NULL)
+    dma2dFgSetPaletteS(dma2dp, cfgp->palettep);
+}
+
+/**
+ * @brief   Set foreground layer specifications.
+ * @details Sets the foreground layer specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ * @note    This function should not be called while the DMA2D is already
+ *          executing a job, otherwise the appropriate error interrupt might be
+ *          invoked.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dFgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dFgSetConfigS(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D output layer methods
+ * @{
+ */
+
+/**
+ * @brief   Get output layer buffer address.
+ * @details Gets the buffer address of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @iclass
+ */
+void *dma2dOutGetAddressI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (void *)DMA2D->OMAR;
+}
+
+/**
+ * @brief   Get output layer buffer address.
+ * @details Gets the buffer address of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              buffer address
+ *
+ * @api
+ */
+void *dma2dOutGetAddress(DMA2DDriver *dma2dp) {
+
+  void *bufferp;
+  chSysLock();
+  bufferp = dma2dOutGetAddressI(dma2dp);
+  chSysUnlock();
+  return bufferp;
+}
+
+/**
+ * @brief   Set output layer buffer address.
+ * @details Sets the buffer address of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @iclass
+ */
+void dma2dOutSetAddressI(DMA2DDriver *dma2dp, void *bufferp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(dma2dIsAligned(bufferp, dma2dOutGetPixelFormatI(dma2dp)));
+  (void)dma2dp;
+
+  DMA2D->OMAR = (uint32_t)bufferp;
+}
+
+/**
+ * @brief   Set output layer buffer address.
+ * @details Sets the buffer address of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] bufferp   buffer address
+ *
+ * @api
+ */
+void dma2dOutSetAddress(DMA2DDriver *dma2dp, void *bufferp) {
+
+  chSysLock();
+  dma2dOutSetAddressI(dma2dp, bufferp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get output layer wrap offset.
+ * @details Gets the buffer line wrap offset of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @iclass
+ */
+size_t dma2dOutGetWrapOffsetI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (size_t)(DMA2D->OOR & DMA2D_OOR_LO);
+}
+
+/**
+ * @brief   Get output layer wrap offset.
+ * @details Gets the buffer line wrap offset of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              wrap offset, in pixels
+ *
+ * @api
+ */
+size_t dma2dOutGetWrapOffset(DMA2DDriver *dma2dp) {
+
+  size_t offset;
+  chSysLock();
+  offset = dma2dOutGetWrapOffsetI(dma2dp);
+  chSysUnlock();
+  return offset;
+}
+
+/**
+ * @brief   Set output layer wrap offset.
+ * @details Sets the buffer line wrap offset of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @iclass
+ */
+void dma2dOutSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(offset <= DMA2D_MAX_OFFSET, "bounds");
+  (void)dma2dp;
+
+  DMA2D->OOR = ((DMA2D->OOR & ~DMA2D_OOR_LO) |
+                ((uint32_t)offset & DMA2D_OOR_LO));
+}
+
+/**
+ * @brief   Set output layer wrap offset.
+ * @details Sets the buffer line wrap offset of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] offset    wrap offset, in pixels
+ *
+ * @api
+ */
+void dma2dOutSetWrapOffset(DMA2DDriver *dma2dp, size_t offset) {
+
+  chSysLock();
+  dma2dOutSetWrapOffsetI(dma2dp, offset);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get output layer pixel format.
+ * @details Gets the pixel format of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @iclass
+ */
+dma2d_pixfmt_t dma2dOutGetPixelFormatI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_pixfmt_t)(DMA2D->OPFCCR & DMA2D_OPFCCR_CM);
+}
+
+/**
+ * @brief   Get output layer pixel format.
+ * @details Gets the pixel format of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              pixel format
+ *
+ * @api
+ */
+dma2d_pixfmt_t dma2dOutGetPixelFormat(DMA2DDriver *dma2dp) {
+
+  dma2d_pixfmt_t fmt;
+  chSysLock();
+  fmt = dma2dOutGetPixelFormatI(dma2dp);
+  chSysUnlock();
+  return fmt;
+}
+
+/**
+ * @brief   Set output layer pixel format.
+ * @details Sets the pixel format of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @iclass
+ */
+void dma2dOutSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgAssert(fmt <= DMA2D_MAX_OUTPIXFMT_ID, "bounds");
+  (void)dma2dp;
+
+  DMA2D->OPFCCR = ((DMA2D->OPFCCR & ~DMA2D_OPFCCR_CM) |
+                   ((uint32_t)fmt & DMA2D_OPFCCR_CM));
+}
+
+/**
+ * @brief   Set output layer pixel format.
+ * @details Sets the pixel format of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @api
+ */
+void dma2dOutSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt) {
+
+  chSysLock();
+  dma2dOutSetPixelFormatI(dma2dp, fmt);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get output layer default color.
+ * @details Gets the default color of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, chosen output format
+ *
+ * @iclass
+ */
+dma2d_color_t dma2dOutGetDefaultColorI(DMA2DDriver *dma2dp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  (void)dma2dp;
+
+  return (dma2d_color_t)(DMA2D->OCOLR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get output layer default color.
+ * @details Gets the default color of the output layer.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ *
+ * @return              default color, chosen output format
+ *
+ * @api
+ */
+dma2d_color_t dma2dOutGetDefaultColor(DMA2DDriver *dma2dp) {
+
+  dma2d_color_t c;
+  chSysLock();
+  c = dma2dOutGetDefaultColorI(dma2dp);
+  chSysUnlock();
+  return c;
+}
+
+/**
+ * @brief   Set output layer default color.
+ * @details Sets the default color of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, chosen output format
+ *
+ * @iclass
+ */
+void dma2dOutSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  (void)dma2dp;
+
+  DMA2D->OCOLR = (uint32_t)c & 0x00FFFFFF;
+}
+
+/**
+ * @brief   Set output layer default color.
+ * @details Sets the default color of the output layer.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] c         default color, chosen output format
+ *
+ * @api
+ */
+void dma2dOutSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c) {
+
+  chSysLock();
+  dma2dOutSetDefaultColorI(dma2dp, c);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Get output layer specifications.
+ * @details Gets the output layer specifications at once.
+ * @note    Constant alpha and palette specifications are ignored.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @iclass
+ */
+void dma2dOutGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgCheck(cfgp != NULL);
+
+  cfgp->bufferp = dma2dOutGetAddressI(dma2dp);
+  cfgp->wrap_offset = dma2dOutGetWrapOffsetI(dma2dp);
+  cfgp->fmt = dma2dOutGetPixelFormatI(dma2dp);
+  cfgp->def_color = dma2dOutGetDefaultColorI(dma2dp);
+}
+
+/**
+ * @brief   Get output layer specifications.
+ * @details Gets the output layer specifications at once.
+ * @note    Constant alpha and palette specifications are ignored.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dOutGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dOutGetLayerI(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Set output layer specifications.
+ * @details Sets the output layer specifications at once.
+ * @note    Constant alpha and palette specifications are ignored.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @iclass
+ */
+void dma2dOutSetConfigI(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(dma2dp == &DMA2DD1);
+  osalDbgAssert(dma2dp->state == DMA2D_READY, "not ready");
+  osalDbgCheck(cfgp != NULL);
+
+  dma2dOutSetAddressI(dma2dp, cfgp->bufferp);
+  dma2dOutSetWrapOffsetI(dma2dp, cfgp->wrap_offset);
+  dma2dOutSetPixelFormatI(dma2dp, cfgp->fmt);
+  dma2dOutSetDefaultColorI(dma2dp, cfgp->def_color);
+}
+
+/**
+ * @brief   Set output layer specifications.
+ * @details Sets the output layer specifications at once.
+ * @note    Constant alpha and palette specifications are ignored.
+ * @pre     DMA2D is ready.
+ *
+ * @param[in] dma2dp    pointer to the @p DMA2DDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @api
+ */
+void dma2dOutSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp) {
+
+  chSysLock();
+  dma2dOutSetConfigI(dma2dp, cfgp);
+  chSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    DMA2D helper functions
+ * @{
+ */
+
+/**
+ * @brief   Compute pixel address.
+ * @details Computes the buffer address of a pixel, given the buffer
+ *          specifications.
+ *
+ * @param[in] originp   buffer origin address
+ * @param[in] pitch     buffer pitch, in bytes
+ * @param[in] fmt       buffer pixel format
+ * @param[in] x         horizontal pixel coordinate
+ * @param[in] y         vertical pixel coordinate
+ *
+ * @return              pixel address, constant data
+ *
+ * @api
+ */
+const void *dma2dComputeAddressConst(const void *originp, size_t pitch,
+                                     dma2d_pixfmt_t fmt,
+                                     uint16_t x, uint16_t y) {
+
+  osalDbgCheck(pitch > 0);
+
+  switch (fmt) {
+  case DMA2D_FMT_ARGB8888:
+    return (const void *)((uintptr_t)originp +
+                          (uintptr_t)y * pitch + (uintptr_t)x * 4);
+  case DMA2D_FMT_RGB888:
+    return (const void *)((uintptr_t)originp +
+                          (uintptr_t)y * pitch + (uintptr_t)x * 3);
+  case DMA2D_FMT_RGB565:
+  case DMA2D_FMT_ARGB1555:
+  case DMA2D_FMT_ARGB4444:
+  case DMA2D_FMT_AL88:
+    return (const void *)((uintptr_t)originp +
+                          (uintptr_t)y * pitch + (uintptr_t)x * 2);
+  case DMA2D_FMT_L8:
+  case DMA2D_FMT_AL44:
+  case DMA2D_FMT_A8:
+    return (const void *)((uintptr_t)originp +
+                          (uintptr_t)y * pitch + (uintptr_t)x);
+  case DMA2D_FMT_L4:
+  case DMA2D_FMT_A4:
+    osalDbgAssert((x & 1) == 0, "not aligned");
+    return (const void *)((uintptr_t)originp +
+                          (uintptr_t)y * pitch + (uintptr_t)x / 2);
+  default:
+    osalDbgAssert(false, "invalid format");
+    return NULL;
+  }
+}
+
+/**
+ * @brief   Address is aligned.
+ * @details Tells whether the address is aligned with the provided pixel format.
+ *
+ * @param[in] bufferp   address
+ * @param[in] fmt       pixel format
+ *
+ * @return              address is aligned
+ *
+ * @api
+ */
+bool dma2dIsAligned(const void *bufferp, dma2d_pixfmt_t fmt) {
+
+  switch (fmt) {
+  case DMA2D_FMT_ARGB8888:
+  case DMA2D_FMT_RGB888:
+    return ((uintptr_t)bufferp & 3) == 0;   /* 32-bit alignment.*/
+  case DMA2D_FMT_RGB565:
+  case DMA2D_FMT_ARGB1555:
+  case DMA2D_FMT_ARGB4444:
+  case DMA2D_FMT_AL88:
+    return ((uintptr_t)bufferp & 1) == 0;   /* 16-bit alignment.*/
+  case DMA2D_FMT_L8:
+  case DMA2D_FMT_AL44:
+  case DMA2D_FMT_L4:
+  case DMA2D_FMT_A8:
+  case DMA2D_FMT_A4:
+    return true;                            /* 8-bit alignment.*/
+  default:
+    osalDbgAssert(false, "invalid format");
+    return false;
+  }
+}
+
+/**
+ * @brief   Compute bits per pixel.
+ * @details Computes the bits per pixel for the specified pixel format.
+ *
+ * @param[in] fmt       pixel format
+ *
+ * @retuen              bits per pixel
+ *
+ * @api
+ */
+size_t dma2dBitsPerPixel(dma2d_pixfmt_t fmt) {
+
+  osalDbgAssert(fmt < DMA2D_MAX_PIXFMT_ID, "invalid format");
+
+  return (size_t)dma2d_bpp[(unsigned)fmt];
+}
+
+#if DMA2D_USE_SOFTWARE_CONVERSIONS || defined(__DOXYGEN__)
+
+/**
+ * @brief   Convert from ARGB-8888.
+ * @details Converts an ARGB-8888 color to the specified pixel format.
+ *
+ * @param[in] c         color, ARGB-8888
+ * @param[in] fmt       target pixel format
+ *
+ * @return              raw color value for the target pixel format, left
+ *                      padded with zeros.
+ *
+ * @api
+ */
+dma2d_color_t dma2dFromARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt) {
+
+  switch (fmt) {
+  case DMA2D_FMT_ARGB8888: {
+    return c;
+  }
+  case DMA2D_FMT_RGB888: {
+    return (c & 0x00FFFFFF);
+  }
+  case DMA2D_FMT_RGB565: {
+    return (((c & 0x000000F8) >> ( 8 -  5)) |
+            ((c & 0x0000FC00) >> (16 - 11)) |
+            ((c & 0x00F80000) >> (24 - 16)));
+  }
+  case DMA2D_FMT_ARGB1555: {
+    return (((c & 0x000000F8) >> ( 8 -  5)) |
+            ((c & 0x0000F800) >> (16 - 10)) |
+            ((c & 0x00F80000) >> (24 - 15)) |
+            ((c & 0x80000000) >> (32 - 16)));
+  }
+  case DMA2D_FMT_ARGB4444: {
+    return (((c & 0x000000F0) >> ( 8 -  4)) |
+            ((c & 0x0000F000) >> (16 -  8)) |
+            ((c & 0x00F00000) >> (24 - 12)) |
+            ((c & 0xF0000000) >> (32 - 16)));
+  }
+  case DMA2D_FMT_L8: {
+    return (c & 0x000000FF);
+  }
+  case DMA2D_FMT_AL44: {
+    return (((c & 0x000000F0) >> ( 8 - 4)) |
+            ((c & 0xF0000000) >> (32 - 8)));
+  }
+  case DMA2D_FMT_AL88: {
+    return (((c & 0x000000FF) >> ( 8 -  8)) |
+            ((c & 0xFF000000) >> (32 - 16)));
+  }
+  case DMA2D_FMT_L4: {
+    return (c & 0x0000000F);
+  }
+  case DMA2D_FMT_A8: {
+    return ((c & 0xFF000000) >> (32 - 8));
+  }
+  case DMA2D_FMT_A4: {
+    return ((c & 0xF0000000) >> (32 - 4));
+  }
+  default:
+    osalDbgAssert(false, "invalid format");
+    return 0;
+  }
+}
+
+/**
+ * @brief   Convert to ARGB-8888.
+ * @details Converts color of the specified pixel format to an ARGB-8888 color.
+ *
+ * @param[in] c         color for the source pixel format, left padded with
+ *                      zeros.
+ * @param[in] fmt       source pixel format
+ *
+ * @return              color in ARGB-8888 format
+ *
+ * @api
+ */
+dma2d_color_t dma2dToARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt) {
+
+  switch (fmt) {
+  case DMA2D_FMT_ARGB8888: {
+    return c;
+  }
+  case DMA2D_FMT_RGB888: {
+    return ((c & 0x00FFFFFF) | 0xFF000000);
+  }
+  case DMA2D_FMT_RGB565: {
+    register dma2d_color_t output = 0xFF000000;
+    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);
+    if (c & 0x07E0) output |= (((c & 0x07E0) << (16 - 11)) | 0x00000300);
+    if (c & 0xF800) output |= (((c & 0xF800) << (24 - 16)) | 0x00070000);
+    return output;
+  }
+  case DMA2D_FMT_ARGB1555: {
+    register dma2d_color_t output = 0x00000000;
+    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);
+    if (c & 0x03E0) output |= (((c & 0x03E0) << (16 - 10)) | 0x00000700);
+    if (c & 0x7C00) output |= (((c & 0x7C00) << (24 - 15)) | 0x00070000);
+    if (c & 0x8000) output |= 0xFF000000;
+    return output;
+  }
+  case DMA2D_FMT_ARGB4444: {
+    register dma2d_color_t output = 0x00000000;
+    if (c & 0x000F) output |= (((c & 0x000F) << ( 8 -  4)) | 0x0000000F);
+    if (c & 0x00F0) output |= (((c & 0x00F0) << (16 -  8)) | 0x00000F00);
+    if (c & 0x0F00) output |= (((c & 0x0F00) << (24 - 12)) | 0x000F0000);
+    if (c & 0xF000) output |= (((c & 0xF000) << (32 - 16)) | 0x0F000000);
+    return output;
+  }
+  case DMA2D_FMT_L8: {
+    return (c & 0xFF) | 0xFF000000;
+  }
+  case DMA2D_FMT_AL44: {
+    register dma2d_color_t output = 0x00000000;
+    if (c & 0x0F) output |= (((c & 0x0F) << ( 8 - 4)) | 0x0000000F);
+    if (c & 0xF0) output |= (((c & 0xF0) << (32 - 8)) | 0x0F000000);
+    return output;
+  }
+  case DMA2D_FMT_AL88: {
+    return (((c & 0x00FF) << ( 8 -  8)) |
+            ((c & 0xFF00) << (32 - 16)));
+  }
+  case DMA2D_FMT_L4: {
+    return ((c & 0x0F) | 0xFF000000);
+  }
+  case DMA2D_FMT_A8: {
+    return ((c & 0xFF) << (32 - 8));
+  }
+  case DMA2D_FMT_A4: {
+    return ((c & 0x0F) << (32 - 4));
+  }
+  default:
+    osalDbgAssert(false, "invalid format");
+    return 0;
+  }
+}
+
+#endif  /* DMA2D_NEED_CONVERSIONS */
+
+/** @} */
+
+/** @} */
+
+#endif  /* STM32_DMA2D_USE_DMA2D */
diff --git a/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.h b/os/hal/ports/STM32/LLD/DMA2Dv1/hal_stm32_dma2d.h
index 29efa71..01f0941 100644
--- a/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.h
+++ b/os/hal/ports/STM32/LLD/DMA2Dv1/hal_stm32_dma2d.h
@@ -1,664 +1,664 @@
-/*

-    Copyright (C) 2013-2015 Andrea Zoppi

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    stm32_dma2d.h

- * @brief   DMA2D/Chrom-ART driver.

- *

- * @addtogroup dma2d

- * @{

- */

-

-#ifndef _STM32_DMA2D_H_

-#define _STM32_DMA2D_H_

-

-/**

- * @brief   Using the DMA2D driver.

- */

-#if !defined(STM32_DMA2D_USE_DMA2D) || defined(__DOXYGEN__)

-#define STM32_DMA2D_USE_DMA2D   (FALSE)

-#endif

-

-#if (TRUE == STM32_DMA2D_USE_DMA2D) || defined(__DOXYGEN__)

-

-/*===========================================================================*/

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/**

- * @name    DMA2D job modes

- * @{

- */

-#define DMA2D_JOB_COPY          (0 << 16)   /**< Copy, replace(FG only).*/

-#define DMA2D_JOB_CONVERT       (1 << 16)   /**< Copy, convert (FG + PFC).*/

-#define DMA2D_JOB_BLEND         (2 << 16)   /**< Copy, blend (FG + BG + PFC).*/

-#define DMA2D_JOB_CONST         (3 << 16)   /**< Default color only (FG REG).*/

-/** @} */

-

-/**

- * @name    DMA2D enable flag

- * @{

- */

-#define DMA2D_EF_ENABLE         (1 <<  0)   /**< DMA2D enabled.*/

-#define DMA2D_EF_DITHER         (1 << 16)   /**< Dithering enabled.*/

-#define DMA2D_EF_PIXCLK_INVERT  (1 << 28)   /**< Inverted pixel clock.*/

-#define DMA2D_EF_DATAEN_HIGH    (1 << 29)   /**< Active-high data enable.*/

-#define DMA2D_EF_VSYNC_HIGH     (1 << 30)   /**< Active-high vsync.*/

-#define DMA2D_EF_HSYNC_HIGH     (1 << 31)   /**< Active-high hsync.*/

-

-/** Enable flags mask. */

-#define DMA2D_EF_MASK \

-  (DMA2D_EF_ENABLE | DMA2D_EF_DITHER | DMA2D_EF_PIXCLK_INVERT | \

-   DMA2D_EF_DATAEN_HIGH | DMA2D_EF_VSYNC_HIGH | DMA2D_EF_HSYNC_HIGH)

-/** @} */

-

-/**

- * @name    DMA2D layer enable flags

- * @{

- */

-#define DMA2D_LEF_ENABLE        (1 << 0)    /**< Layer enabled*/

-#define DMA2D_LEF_KEYING        (1 << 1)    /**< Color keying enabled.*/

-#define DMA2D_LEF_PALETTE       (1 << 4)    /**< Palette enabled.*/

-

-/** Layer enable flag masks. */

-#define DMA2D_LEF_MASK \

-  (DMA2D_LEF_ENABLE | DMA2D_LEF_KEYING | DMA2D_LEF_PALETTE)

-/** @} */

-

-/**

- * @name    DMA2D pixel formats

- * @{

- */

-#define DMA2D_FMT_ARGB8888      (0)           /**< ARGB-8888 format.*/

-#define DMA2D_FMT_RGB888        (1)           /**< RGB-888 format.*/

-#define DMA2D_FMT_RGB565        (2)           /**< RGB-565 format.*/

-#define DMA2D_FMT_ARGB1555      (3)           /**< ARGB-1555 format.*/

-#define DMA2D_FMT_ARGB4444      (4)           /**< ARGB-4444 format.*/

-#define DMA2D_FMT_L8            (5)           /**< L-8 format.*/

-#define DMA2D_FMT_AL44          (6)           /**< AL-44 format.*/

-#define DMA2D_FMT_AL88          (7)           /**< AL-88 format.*/

-#define DMA2D_FMT_L4            (8)           /**< L-4 format.*/

-#define DMA2D_FMT_A8            (9)           /**< A-8 format.*/

-#define DMA2D_FMT_A4            (10)          /**< A-4 format.*/

-/** @} */

-

-/**

- * @name    DMA2D pixel format aliased raw masks

- * @{

- */

-#define DMA2D_XMASK_ARGB8888    (0xFFFFFFFF)  /**< ARGB-8888 aliased mask.*/

-#define DMA2D_XMASK_RGB888      (0x00FFFFFF)  /**< RGB-888 aliased mask.*/

-#define DMA2D_XMASK_RGB565      (0x00F8FCF8)  /**< RGB-565 aliased mask.*/

-#define DMA2D_XMASK_ARGB1555    (0x80F8F8F8)  /**< ARGB-1555 aliased mask.*/

-#define DMA2D_XMASK_ARGB4444    (0xF0F0F0F0)  /**< ARGB-4444 aliased mask.*/

-#define DMA2D_XMASK_L8          (0x000000FF)  /**< L-8 aliased mask.*/

-#define DMA2D_XMASK_AL44        (0xF00000F0)  /**< AL-44 aliased mask.*/

-#define DMA2D_XMASK_AL88        (0xFF0000FF)  /**< AL-88 aliased mask.*/

-#define DMA2D_XMASK_L4          (0x0000000F)  /**< L-4 aliased mask.*/

-#define DMA2D_XMASK_A8          (0xFF000000)  /**< A-8 aliased mask.*/

-#define DMA2D_XMASK_A4          (0xF0000000)  /**< A-4 aliased mask.*/

-/** @} */

-

-/**

- * @name    DMA2D alpha modes

- * @{

- */

-#define DMA2D_ALPHA_KEEP        (0x00000000)  /**< Original alpha channel.*/

-#define DMA2D_ALPHA_REPLACE     (0x00010000)  /**< Replace with constant.*/

-#define DMA2D_ALPHA_MODULATE    (0x00020000)  /**< Modulate with constant.*/

-/** @} */

-

-/**

- * @name    DMA2D parameter bounds

- * @{

- */

-

-#define DMA2D_MIN_PIXFMT_ID             (0)   /**< Minimum pixel format ID.*/

-#define DMA2D_MAX_PIXFMT_ID             (11)  /**< Maximum pixel format ID.*/

-#define DMA2D_MIN_OUTPIXFMT_ID          (0)   /**< Minimum output pixel format ID.*/

-#define DMA2D_MAX_OUTPIXFMT_ID          (4)   /**< Maximum output pixel format ID.*/

-

-#define DMA2D_MAX_OFFSET                ((1 << 14) - 1)

-

-#define DMA2D_MAX_PALETTE_LENGTH        (256) /***/

-

-#define DMA2D_MAX_WIDTH                 ((1 << 14) - 1)

-#define DMA2D_MAX_HEIGHT                ((1 << 16) - 1)

-

-#define DMA2D_MAX_WATERMARK_POS         ((1 << 16) - 1)

-

-#define DMA2D_MAX_DEADTIME_CYCLES       ((1 << 8) - 1)

-

-/** @} */

-

-/**

- * @name    DMA2D basic ARGB-8888 colors.

- * @{

- */

-/* Microsoft Windows default 16-color palette.*/

-#define DMA2D_COLOR_BLACK       (0xFF000000)

-#define DMA2D_COLOR_MAROON      (0xFF800000)

-#define DMA2D_COLOR_GREEN       (0xFF008000)

-#define DMA2D_COLOR_OLIVE       (0xFF808000)

-#define DMA2D_COLOR_NAVY        (0xFF000080)

-#define DMA2D_COLOR_PURPLE      (0xFF800080)

-#define DMA2D_COLOR_TEAL        (0xFF008080)

-#define DMA2D_COLOR_SILVER      (0xFFC0C0C0)

-#define DMA2D_COLOR_GRAY        (0xFF808080)

-#define DMA2D_COLOR_RED         (0xFFFF0000)

-#define DMA2D_COLOR_LIME        (0xFF00FF00)

-#define DMA2D_COLOR_YELLOW      (0xFFFFFF00)

-#define DMA2D_COLOR_BLUE        (0xFF0000FF)

-#define DMA2D_COLOR_FUCHSIA     (0xFFFF00FF)

-#define DMA2D_COLOR_AQUA        (0xFF00FFFF)

-#define DMA2D_COLOR_WHITE       (0xFFFFFFFF)

-/** @} */

-

-/*===========================================================================*/

-/* Driver pre-compile time settings.                                         */

-/*===========================================================================*/

-

-/**

- * @name    DMA2D configuration options

- * @{

- */

-

-/**

- * @brief   DMA2D event interrupt priority level setting.

- */

-#if !defined(STM32_DMA2D_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_DMA2D_IRQ_PRIORITY            (11)

-#endif

-

-/**

- * @brief   Enables synchronous APIs.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(DMA2D_USE_WAIT) || defined(__DOXYGEN__)

-#define DMA2D_USE_WAIT                      (TRUE)

-#endif

-

-/**

- * @brief   Enables the @p dma2dAcquireBus() and @p dma2dReleaseBus() APIs.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(DMA2D_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

-#define DMA2D_USE_MUTUAL_EXCLUSION          (TRUE)

-#endif

-

-/**

- * @brief   Provides software color conversion functions.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(DMA2D_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)

-#define DMA2D_USE_SOFTWARE_CONVERSIONS      (TRUE)

-#endif

-

-/**

- * @brief   Enables checks for DMA2D functions.

- * @note    Disabling this option saves both code and data space.

- * @note    Disabling checks by ChibiOS will automatically disable DMA2D checks.

- */

-#if !defined(DMA2D_USE_CHECKS) || defined(__DOXYGEN__)

-#define DMA2D_USE_CHECKS                    (TRUE)

-#endif

-

-/** @} */

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-#if (TRUE != STM32_HAS_DMA2D)

-#error "DMA2D must be present when using the DMA2D subsystem"

-#endif

-

-#if (TRUE != STM32_DMA2D_USE_DMA2D) && (TRUE != STM32_HAS_DMA2D)

-#error "DMA2D not present in the selected device"

-#endif

-

-#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)

-#if (TRUE != CH_CFG_USE_MUTEXES) && (TRUE != CH_CFG_USE_SEMAPHORES)

-#error "DMA2D_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"

-#endif

-#endif

-

-/*===========================================================================*/

-/* Driver data structures and types.                                         */

-/*===========================================================================*/

-

-/* Complex types forwarding.*/

-typedef union dma2d_coloralias_t dma2d_coloralias_t;

-typedef struct dma2d_palcfg_t dma2d_palcfg_t;

-typedef struct dma2d_laycfg_t dma2d_layercfg_t;

-typedef struct DMA2DConfig DMA2DConfig;

-typedef enum dma2d_state_t dma2d_state_t;

-typedef struct DMA2DDriver DMA2DDriver;

-

-/**

- * @name    DMA2D Data types

- * @{

- */

-

-/**

- * @brief   DMA2D generic color.

- */

-typedef uint32_t dma2d_color_t;

-

-/**

- * @brief   DMA2D color aliases.

- * @detail  Mapped with ARGB-8888, except for luminance (L mapped onto B).

- *          Padding fields are prefixed with <tt>'x'</tt>, and should be clear

- *          (all 0) before compression and set (all 1) after expansion.

- */

-typedef union dma2d_coloralias_t {

-  struct {

-    unsigned  b     :  8;

-    unsigned  g     :  8;

-    unsigned  r     :  8;

-    unsigned  a     :  8;

-  }             argb8888;           /**< Mapped ARGB-8888 bits.*/

-  struct {

-    unsigned  b     :  8;

-    unsigned  g     :  8;

-    unsigned  r     :  8;

-    unsigned  xa    :  8;

-  }             rgb888;             /**< Mapped RGB-888 bits.*/

-  struct {

-    unsigned  xb    :  3;

-    unsigned  b     :  5;

-    unsigned  xg    :  2;

-    unsigned  g     :  6;

-    unsigned  xr    :  3;

-    unsigned  r     :  5;

-    unsigned  xa    :  8;

-  }             rgb565;             /**< Mapped RGB-565 bits.*/

-  struct {

-    unsigned  xb    :  3;

-    unsigned  b     :  5;

-    unsigned  xg    :  3;

-    unsigned  g     :  5;

-    unsigned  xr    :  3;

-    unsigned  r     :  5;

-    unsigned  xa    :  7;

-    unsigned  a     :  1;

-  }             argb1555;           /**< Mapped ARGB-1555 values.*/

-  struct {

-    unsigned  xb    :  4;

-    unsigned  b     :  4;

-    unsigned  xg    :  4;

-    unsigned  g     :  4;

-    unsigned  xr    :  4;

-    unsigned  r     :  4;

-    unsigned  xa    :  4;

-    unsigned  a     :  4;

-  }             argb4444;           /**< Mapped ARGB-4444 values.*/

-  struct {

-    unsigned  l     :  8;

-    unsigned  x     : 16;

-    unsigned  xa    :  8;

-  }             l8;                 /**< Mapped L-8 bits.*/

-  struct {

-    unsigned  xl    :  4;

-    unsigned  l     :  4;

-    unsigned  x     : 16;

-    unsigned  xa    :  4;

-    unsigned  a     :  4;

-  }             al44;               /**< Mapped AL-44 bits.*/

-  struct {

-    unsigned  l     :  8;

-    unsigned  x     : 16;

-    unsigned  a     :  8;

-  }             al88;               /**< Mapped AL-88 bits.*/

-  struct {

-    unsigned  l     :  4;

-    unsigned  xl    :  4;

-    unsigned  x     : 16;

-    unsigned  xa    :  8;

-  }             l4;                 /**< Mapped L-4 bits.*/

-  struct {

-    unsigned  x     : 24;

-    unsigned  a     :  8;

-  }             a8;                 /**< Mapped A-8 bits.*/

-  struct {

-    unsigned  x     : 24;

-    unsigned  xa    :  4;

-    unsigned  a     :  4;

-  }             a4;                 /**< Mapped A-4 bits.*/

-  dma2d_color_t  aliased;           /**< Aliased raw bits.*/

-} dma2d_coloralias_t;

-

-/**

- * @brief   DMA2D job (transfer) mode.

- */

-typedef uint32_t dma2d_jobmode_t;

-

-/**

- * @brief   DMA2D pixel format.

- */

-typedef uint32_t dma2d_pixfmt_t;

-

-/**

- * @brief   DMA2D alpha mode.

- */

-typedef uint32_t dma2d_amode_t;

-

-/**

- * @brief   DMA2D ISR callback.

- */

-typedef void (*dma2d_isrcb_t)(DMA2DDriver *dma2dp);

-

-/**

- * @brief   DMA2D palette specifications.

- */

-typedef struct dma2d_palcfg_t {

-  const void        *colorsp;         /**< Pointer to color entries.*/

-  uint16_t          length;           /**< Number of color entries.*/

-  dma2d_pixfmt_t    fmt;              /**< Format, RGB-888 or ARGB-8888.*/

-} dma2d_palcfg_t;

-

-/**

- * @brief   DMA2D layer specifications.

- */

-typedef struct dma2d_layercfg_t {

-  void                  *bufferp;     /**< Frame buffer address.*/

-  size_t                wrap_offset;  /**< Offset between lines, in pixels.*/

-  dma2d_pixfmt_t        fmt;          /**< Pixel format.*/

-  dma2d_color_t         def_color;    /**< Default color, RGB-888.*/

-  uint8_t               const_alpha;  /**< Constant alpha factor.*/

-  const dma2d_palcfg_t  *palettep;    /**< Palette specs, or @p NULL.*/

-} dma2d_laycfg_t;

-

-/**

- * @brief   DMA2D driver configuration.

- */

-typedef struct DMA2DConfig {

-  /* ISR callbacks.*/

-  dma2d_isrcb_t     cfgerr_isr;       /**< Configuration error, or @p NULL.*/

-  dma2d_isrcb_t     paltrfdone_isr;   /**< Palette transfer done, or @p NULL.*/

-  dma2d_isrcb_t     palacserr_isr;    /**< Palette access error, or @p NULL.*/

-  dma2d_isrcb_t     trfwmark_isr;     /**< Transfer watermark, or @p NULL.*/

-  dma2d_isrcb_t     trfdone_isr;      /**< Transfer complete, or @p NULL.*/

-  dma2d_isrcb_t     trferr_isr;       /**< Transfer error, or @p NULL.*/

-} DMA2DConfig;

-

-/**

- * @brief   DMA2D driver state.

- */

-typedef enum dma2d_state_t {

-  DMA2D_UNINIT      = (0),            /**< Not initialized.*/

-  DMA2D_STOP        = (1),            /**< Stopped.*/

-  DMA2D_READY       = (2),            /**< Ready.*/

-  DMA2D_ACTIVE      = (3),            /**< Executing commands.*/

-  DMA2D_PAUSED      = (4),            /**< Transfer suspended.*/

-} dma2d_state_t;

-

-/**

- * @brief   DMA2D driver.

- */

-typedef struct DMA2DDriver {

-  dma2d_state_t     state;          /**< Driver state.*/

-  const DMA2DConfig *config;        /**< Driver configuration.*/

-

-  /* Multithreading stuff.*/

-#if (TRUE == DMA2D_USE_WAIT) || defined(__DOXYGEN__)

-  thread_t          *thread;        /**< Waiting thread.*/

-#endif  /* DMA2D_USE_WAIT */

-#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  mutex_t           lock;           /**< Multithreading lock.*/

-#elif (TRUE == CH_CFG_USE_SEMAPHORES)

-  semaphore_t       lock;           /**< Multithreading lock.*/

-#endif

-#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */

-} DMA2DDriver;

-

-/** @} */

-

-/*===========================================================================*/

-/* Driver macros.                                                            */

-/*===========================================================================*/

-

-/**

- * @brief   Makes an ARGB-8888 value from byte components.

- *

- * @param[in] a         alpha byte component

- * @param[in] r         red byte component

- * @param[in] g         green byte component

- * @param[in] b         blue byte component

- *

- * @return              color in ARGB-8888 format

- *

- * @api

- */

-#define dma2dMakeARGB8888(a, r, g, b) \

-  ((((dma2d_color_t)(a) & 0xFF) << 24) | \

-   (((dma2d_color_t)(r) & 0xFF) << 16) | \

-   (((dma2d_color_t)(g) & 0xFF) <<  8) | \

-   (((dma2d_color_t)(b) & 0xFF) <<  0))

-

-/**

- * @brief   Compute bytes per pixel.

- * @details Computes the bytes per pixel for the specified pixel format.

- *          Rounds to the ceiling.

- *

- * @param[in] fmt       pixel format

- *

- * @return              bytes per pixel

- *

- * @api

- */

-#define dma2dBytesPerPixel(fmt) \

-  ((dma2dBitsPerPixel(fmt) + 7) >> 3)

-

-/**

- * @brief   Compute pixel address.

- * @details Computes the buffer address of a pixel, given the buffer

- *          specifications.

- *

- * @param[in] originp   buffer origin address

- * @param[in] pitch     buffer pitch, in bytes

- * @param[in] fmt       buffer pixel format

- * @param[in] x         horizontal pixel coordinate

- * @param[in] y         vertical pixel coordinate

- *

- * @return              pixel address

- *

- * @api

- */

-#define dma2dComputeAddress(originp, pitch, fmt, x, y) \

-  ((void *)dma2dComputeAddressConst(originp, pitch, fmt, x, y))

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-extern DMA2DDriver DMA2DD1;

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-

-  /* Driver methods.*/

-  void dma2dInit(void);

-  void dma2dObjectInit(DMA2DDriver *dma2dp);

-  dma2d_state_t dma2dGetStateI(DMA2DDriver *dma2dp);

-  dma2d_state_t dma2dGetState(DMA2DDriver *dma2dp);

-  void dma2dStart(DMA2DDriver *dma2dp, const DMA2DConfig *configp);

-  void dma2dStop(DMA2DDriver *dma2dp);

-#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)

-  void dma2dAcquireBusS(DMA2DDriver *dma2dp);

-  void dma2dAcquireBus(DMA2DDriver *dma2dp);

-  void dma2dReleaseBusS(DMA2DDriver *dma2dp);

-  void dma2dReleaseBus(DMA2DDriver *dma2dp);

-#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */

-

-  /* Global methods.*/

-  uint16_t dma2dGetWatermarkPosI(DMA2DDriver *dma2dp);

-  uint16_t dma2dGetWatermarkPos(DMA2DDriver *dma2dp);

-  void dma2dSetWatermarkPosI(DMA2DDriver *dma2dp, uint16_t line);

-  void dma2dSetWatermarkPos(DMA2DDriver *dma2dp, uint16_t line);

-  bool dma2dIsWatermarkEnabledI(DMA2DDriver *dma2dp);

-  bool dma2dIsWatermarkEnabled(DMA2DDriver *dma2dp);

-  void dma2dEnableWatermarkI(DMA2DDriver *dma2dp);

-  void dma2dEnableWatermark(DMA2DDriver *dma2dp);

-  void dma2dDisableWatermarkI(DMA2DDriver *dma2dp);

-  void dma2dDisableWatermark(DMA2DDriver *dma2dp);

-  uint32_t dma2dGetDeadTimeI(DMA2DDriver *dma2dp);

-  uint32_t dma2dGetDeadTime(DMA2DDriver *dma2dp);

-  void dma2dSetDeadTimeI(DMA2DDriver *dma2dp, uint32_t cycles);

-  void dma2dSetDeadTime(DMA2DDriver *dma2dp, uint32_t cycles);

-  bool dma2dIsDeadTimeEnabledI(DMA2DDriver *dma2dp);

-  bool dma2dIsDeadTimeEnabled(DMA2DDriver *dma2dp);

-  void dma2dEnableDeadTimeI(DMA2DDriver *dma2dp);

-  void dma2dEnableDeadTime(DMA2DDriver *dma2dp);

-  void dma2dDisableDeadTimeI(DMA2DDriver *dma2dp);

-  void dma2dDisableDeadTime(DMA2DDriver *dma2dp);

-

-  /* Job methods.*/

-  dma2d_jobmode_t dma2dJobGetModeI(DMA2DDriver *dma2dp);

-  dma2d_jobmode_t dma2dJobGetMode(DMA2DDriver *dma2dp);

-  void dma2dJobSetModeI(DMA2DDriver *dma2dp, dma2d_jobmode_t mode);

-  void dma2dJobSetMode(DMA2DDriver *dma2dp, dma2d_jobmode_t mode);

-  void dma2dJobGetSizeI(DMA2DDriver *dma2dp,

-                        uint16_t *widthp, uint16_t *heightp);

-  void dma2dJobGetSize(DMA2DDriver *dma2dp,

-                       uint16_t *widthp, uint16_t *heightp);

-  void dma2dJobSetSizeI(DMA2DDriver *dma2dp, uint16_t width, uint16_t height);

-  void dma2dJobSetSize(DMA2DDriver *dma2dp, uint16_t width, uint16_t height);

-  bool dma2dJobIsExecutingI(DMA2DDriver *dma2dp);

-  bool dma2dJobIsExecuting(DMA2DDriver *dma2dp);

-  void dma2dJobStartI(DMA2DDriver *dma2dp);

-  void dma2dJobStart(DMA2DDriver *dma2dp);

-  void dma2dJobExecuteS(DMA2DDriver *dma2dp);

-  void dma2dJobExecute(DMA2DDriver *dma2dp);

-  void dma2dJobSuspendI(DMA2DDriver *dma2dp);

-  void dma2dJobSuspend(DMA2DDriver *dma2dp);

-  void dma2dJobResumeI(DMA2DDriver *dma2dp);

-  void dma2dJobResume(DMA2DDriver *dma2dp);

-  void dma2dJobAbortI(DMA2DDriver *dma2dp);

-  void dma2dJobAbort(DMA2DDriver *dma2dp);

-

-  /* Background layer methods.*/

-  void *dma2dBgGetAddressI(DMA2DDriver *dma2dp);

-  void *dma2dBgGetAddress(DMA2DDriver *dma2dp);

-  void dma2dBgSetAddressI(DMA2DDriver *dma2dp, void *bufferp);

-  void dma2dBgSetAddress(DMA2DDriver *dma2dp, void *bufferp);

-  size_t dma2dBgGetWrapOffsetI(DMA2DDriver *dma2dp);

-  size_t dma2dBgGetWrapOffset(DMA2DDriver *dma2dp);

-  void dma2dBgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);

-  void dma2dBgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);

-  uint8_t dma2dBgGetConstantAlphaI(DMA2DDriver *dma2dp);

-  uint8_t dma2dBgGetConstantAlpha(DMA2DDriver *dma2dp);

-  void dma2dBgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a);

-  void dma2dBgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a);

-  dma2d_amode_t dma2dBgGetAlphaModeI(DMA2DDriver *dma2dp);

-  dma2d_amode_t dma2dBgGetAlphaMode(DMA2DDriver *dma2dp);

-  void dma2dBgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode);

-  void dma2dBgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode);

-  dma2d_pixfmt_t dma2dBgGetPixelFormatI(DMA2DDriver *dma2dp);

-  dma2d_pixfmt_t dma2dBgGetPixelFormat(DMA2DDriver *dma2dp);

-  void dma2dBgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  void dma2dBgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  dma2d_color_t dma2dBgGetDefaultColorI(DMA2DDriver *dma2dp);

-  dma2d_color_t dma2dBgGetDefaultColor(DMA2DDriver *dma2dp);

-  void dma2dBgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dBgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dBgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);

-  void dma2dBgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);

-  void dma2dBgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);

-  void dma2dBgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);

-  void dma2dBgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dBgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dBgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-  void dma2dBgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-

-  /* Foreground layer methods.*/

-  void *dma2dFgGetAddressI(DMA2DDriver *dma2dp);

-  void *dma2dFgGetAddress(DMA2DDriver *dma2dp);

-  void dma2dFgSetAddressI(DMA2DDriver *dma2dp, void *bufferp);

-  void dma2dFgSetAddress(DMA2DDriver *dma2dp, void *bufferp);

-  size_t dma2dFgGetWrapOffsetI(DMA2DDriver *dma2dp);

-  size_t dma2dFgGetWrapOffset(DMA2DDriver *dma2dp);

-  void dma2dFgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);

-  void dma2dFgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);

-  uint8_t dma2dFgGetConstantAlphaI(DMA2DDriver *dma2dp);

-  uint8_t dma2dFgGetConstantAlpha(DMA2DDriver *dma2dp);

-  void dma2dFgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a);

-  void dma2dFgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a);

-  dma2d_amode_t dma2dFgGetAlphaModeI(DMA2DDriver *dma2dp);

-  dma2d_amode_t dma2dFgGetAlphaMode(DMA2DDriver *dma2dp);

-  void dma2dFgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode);

-  void dma2dFgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode);

-  dma2d_pixfmt_t dma2dFgGetPixelFormatI(DMA2DDriver *dma2dp);

-  dma2d_pixfmt_t dma2dFgGetPixelFormat(DMA2DDriver *dma2dp);

-  void dma2dFgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  void dma2dFgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  dma2d_color_t dma2dFgGetDefaultColorI(DMA2DDriver *dma2dp);

-  dma2d_color_t dma2dFgGetDefaultColor(DMA2DDriver *dma2dp);

-  void dma2dFgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dFgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dFgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);

-  void dma2dFgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);

-  void dma2dFgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);

-  void dma2dFgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);

-  void dma2dFgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dFgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dFgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-  void dma2dFgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-

-  /* Output layer methods.*/

-  void *dma2dOutGetAddressI(DMA2DDriver *dma2dp);

-  void *dma2dOutGetAddress(DMA2DDriver *dma2dp);

-  void dma2dOutSetAddressI(DMA2DDriver *dma2dp, void *bufferp);

-  void dma2dOutSetAddress(DMA2DDriver *dma2dp, void *bufferp);

-  size_t dma2dOutGetWrapOffsetI(DMA2DDriver *dma2dp);

-  size_t dma2dOutGetWrapOffset(DMA2DDriver *dma2dp);

-  void dma2dOutSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);

-  void dma2dOutSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);

-  dma2d_pixfmt_t dma2dOutGetPixelFormatI(DMA2DDriver *dma2dp);

-  dma2d_pixfmt_t dma2dOutGetPixelFormat(DMA2DDriver *dma2dp);

-  void dma2dOutSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  void dma2dOutSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);

-  dma2d_color_t dma2dOutGetDefaultColorI(DMA2DDriver *dma2dp);

-  dma2d_color_t dma2dOutGetDefaultColor(DMA2DDriver *dma2dp);

-  void dma2dOutSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dOutSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);

-  void dma2dOutGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dOutGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);

-  void dma2dOutSetConfigI(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-  void dma2dOutSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);

-

-  /* Helper functions.*/

-  const void *dma2dComputeAddressConst(const void *originp, size_t pitch,

-                                       dma2d_pixfmt_t fmt,

-                                       uint16_t x, uint16_t y);

-  bool dma2dIsAligned(const void *bufferp, dma2d_pixfmt_t fmt);

-  size_t dma2dBitsPerPixel(dma2d_pixfmt_t fmt);

-#if (TRUE == DMA2D_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)

-  dma2d_color_t dma2dFromARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt);

-  dma2d_color_t dma2dToARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt);

-#endif  /* DMA2D_USE_SOFTWARE_CONVERSIONS */

-

-#ifdef __cplusplus

-}

-#endif

-

-#endif  /* STM32_DMA2D_USE_DMA2D */

-

-#endif  /* _STM32_DMA2D_H_ */

-

-/** @} */

+/*
+    Copyright (C) 2013-2015 Andrea Zoppi
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    stm32_dma2d.h
+ * @brief   DMA2D/Chrom-ART driver.
+ *
+ * @addtogroup dma2d
+ * @{
+ */
+
+#ifndef _STM32_DMA2D_H_
+#define _STM32_DMA2D_H_
+
+/**
+ * @brief   Using the DMA2D driver.
+ */
+#if !defined(STM32_DMA2D_USE_DMA2D) || defined(__DOXYGEN__)
+#define STM32_DMA2D_USE_DMA2D   (FALSE)
+#endif
+
+#if (TRUE == STM32_DMA2D_USE_DMA2D) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    DMA2D job modes
+ * @{
+ */
+#define DMA2D_JOB_COPY          (0 << 16)   /**< Copy, replace(FG only).*/
+#define DMA2D_JOB_CONVERT       (1 << 16)   /**< Copy, convert (FG + PFC).*/
+#define DMA2D_JOB_BLEND         (2 << 16)   /**< Copy, blend (FG + BG + PFC).*/
+#define DMA2D_JOB_CONST         (3 << 16)   /**< Default color only (FG REG).*/
+/** @} */
+
+/**
+ * @name    DMA2D enable flag
+ * @{
+ */
+#define DMA2D_EF_ENABLE         (1 <<  0)   /**< DMA2D enabled.*/
+#define DMA2D_EF_DITHER         (1 << 16)   /**< Dithering enabled.*/
+#define DMA2D_EF_PIXCLK_INVERT  (1 << 28)   /**< Inverted pixel clock.*/
+#define DMA2D_EF_DATAEN_HIGH    (1 << 29)   /**< Active-high data enable.*/
+#define DMA2D_EF_VSYNC_HIGH     (1 << 30)   /**< Active-high vsync.*/
+#define DMA2D_EF_HSYNC_HIGH     (1 << 31)   /**< Active-high hsync.*/
+
+/** Enable flags mask. */
+#define DMA2D_EF_MASK \
+  (DMA2D_EF_ENABLE | DMA2D_EF_DITHER | DMA2D_EF_PIXCLK_INVERT | \
+   DMA2D_EF_DATAEN_HIGH | DMA2D_EF_VSYNC_HIGH | DMA2D_EF_HSYNC_HIGH)
+/** @} */
+
+/**
+ * @name    DMA2D layer enable flags
+ * @{
+ */
+#define DMA2D_LEF_ENABLE        (1 << 0)    /**< Layer enabled*/
+#define DMA2D_LEF_KEYING        (1 << 1)    /**< Color keying enabled.*/
+#define DMA2D_LEF_PALETTE       (1 << 4)    /**< Palette enabled.*/
+
+/** Layer enable flag masks. */
+#define DMA2D_LEF_MASK \
+  (DMA2D_LEF_ENABLE | DMA2D_LEF_KEYING | DMA2D_LEF_PALETTE)
+/** @} */
+
+/**
+ * @name    DMA2D pixel formats
+ * @{
+ */
+#define DMA2D_FMT_ARGB8888      (0)           /**< ARGB-8888 format.*/
+#define DMA2D_FMT_RGB888        (1)           /**< RGB-888 format.*/
+#define DMA2D_FMT_RGB565        (2)           /**< RGB-565 format.*/
+#define DMA2D_FMT_ARGB1555      (3)           /**< ARGB-1555 format.*/
+#define DMA2D_FMT_ARGB4444      (4)           /**< ARGB-4444 format.*/
+#define DMA2D_FMT_L8            (5)           /**< L-8 format.*/
+#define DMA2D_FMT_AL44          (6)           /**< AL-44 format.*/
+#define DMA2D_FMT_AL88          (7)           /**< AL-88 format.*/
+#define DMA2D_FMT_L4            (8)           /**< L-4 format.*/
+#define DMA2D_FMT_A8            (9)           /**< A-8 format.*/
+#define DMA2D_FMT_A4            (10)          /**< A-4 format.*/
+/** @} */
+
+/**
+ * @name    DMA2D pixel format aliased raw masks
+ * @{
+ */
+#define DMA2D_XMASK_ARGB8888    (0xFFFFFFFF)  /**< ARGB-8888 aliased mask.*/
+#define DMA2D_XMASK_RGB888      (0x00FFFFFF)  /**< RGB-888 aliased mask.*/
+#define DMA2D_XMASK_RGB565      (0x00F8FCF8)  /**< RGB-565 aliased mask.*/
+#define DMA2D_XMASK_ARGB1555    (0x80F8F8F8)  /**< ARGB-1555 aliased mask.*/
+#define DMA2D_XMASK_ARGB4444    (0xF0F0F0F0)  /**< ARGB-4444 aliased mask.*/
+#define DMA2D_XMASK_L8          (0x000000FF)  /**< L-8 aliased mask.*/
+#define DMA2D_XMASK_AL44        (0xF00000F0)  /**< AL-44 aliased mask.*/
+#define DMA2D_XMASK_AL88        (0xFF0000FF)  /**< AL-88 aliased mask.*/
+#define DMA2D_XMASK_L4          (0x0000000F)  /**< L-4 aliased mask.*/
+#define DMA2D_XMASK_A8          (0xFF000000)  /**< A-8 aliased mask.*/
+#define DMA2D_XMASK_A4          (0xF0000000)  /**< A-4 aliased mask.*/
+/** @} */
+
+/**
+ * @name    DMA2D alpha modes
+ * @{
+ */
+#define DMA2D_ALPHA_KEEP        (0x00000000)  /**< Original alpha channel.*/
+#define DMA2D_ALPHA_REPLACE     (0x00010000)  /**< Replace with constant.*/
+#define DMA2D_ALPHA_MODULATE    (0x00020000)  /**< Modulate with constant.*/
+/** @} */
+
+/**
+ * @name    DMA2D parameter bounds
+ * @{
+ */
+
+#define DMA2D_MIN_PIXFMT_ID             (0)   /**< Minimum pixel format ID.*/
+#define DMA2D_MAX_PIXFMT_ID             (11)  /**< Maximum pixel format ID.*/
+#define DMA2D_MIN_OUTPIXFMT_ID          (0)   /**< Minimum output pixel format ID.*/
+#define DMA2D_MAX_OUTPIXFMT_ID          (4)   /**< Maximum output pixel format ID.*/
+
+#define DMA2D_MAX_OFFSET                ((1 << 14) - 1)
+
+#define DMA2D_MAX_PALETTE_LENGTH        (256) /***/
+
+#define DMA2D_MAX_WIDTH                 ((1 << 14) - 1)
+#define DMA2D_MAX_HEIGHT                ((1 << 16) - 1)
+
+#define DMA2D_MAX_WATERMARK_POS         ((1 << 16) - 1)
+
+#define DMA2D_MAX_DEADTIME_CYCLES       ((1 << 8) - 1)
+
+/** @} */
+
+/**
+ * @name    DMA2D basic ARGB-8888 colors.
+ * @{
+ */
+/* Microsoft Windows default 16-color palette.*/
+#define DMA2D_COLOR_BLACK       (0xFF000000)
+#define DMA2D_COLOR_MAROON      (0xFF800000)
+#define DMA2D_COLOR_GREEN       (0xFF008000)
+#define DMA2D_COLOR_OLIVE       (0xFF808000)
+#define DMA2D_COLOR_NAVY        (0xFF000080)
+#define DMA2D_COLOR_PURPLE      (0xFF800080)
+#define DMA2D_COLOR_TEAL        (0xFF008080)
+#define DMA2D_COLOR_SILVER      (0xFFC0C0C0)
+#define DMA2D_COLOR_GRAY        (0xFF808080)
+#define DMA2D_COLOR_RED         (0xFFFF0000)
+#define DMA2D_COLOR_LIME        (0xFF00FF00)
+#define DMA2D_COLOR_YELLOW      (0xFFFFFF00)
+#define DMA2D_COLOR_BLUE        (0xFF0000FF)
+#define DMA2D_COLOR_FUCHSIA     (0xFFFF00FF)
+#define DMA2D_COLOR_AQUA        (0xFF00FFFF)
+#define DMA2D_COLOR_WHITE       (0xFFFFFFFF)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    DMA2D configuration options
+ * @{
+ */
+
+/**
+ * @brief   DMA2D event interrupt priority level setting.
+ */
+#if !defined(STM32_DMA2D_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_DMA2D_IRQ_PRIORITY            (11)
+#endif
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(DMA2D_USE_WAIT) || defined(__DOXYGEN__)
+#define DMA2D_USE_WAIT                      (TRUE)
+#endif
+
+/**
+ * @brief   Enables the @p dma2dAcquireBus() and @p dma2dReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(DMA2D_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define DMA2D_USE_MUTUAL_EXCLUSION          (TRUE)
+#endif
+
+/**
+ * @brief   Provides software color conversion functions.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(DMA2D_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)
+#define DMA2D_USE_SOFTWARE_CONVERSIONS      (TRUE)
+#endif
+
+/**
+ * @brief   Enables checks for DMA2D functions.
+ * @note    Disabling this option saves both code and data space.
+ * @note    Disabling checks by ChibiOS will automatically disable DMA2D checks.
+ */
+#if !defined(DMA2D_USE_CHECKS) || defined(__DOXYGEN__)
+#define DMA2D_USE_CHECKS                    (TRUE)
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if (TRUE != STM32_HAS_DMA2D)
+#error "DMA2D must be present when using the DMA2D subsystem"
+#endif
+
+#if (TRUE != STM32_DMA2D_USE_DMA2D) && (TRUE != STM32_HAS_DMA2D)
+#error "DMA2D not present in the selected device"
+#endif
+
+#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)
+#if (TRUE != CH_CFG_USE_MUTEXES) && (TRUE != CH_CFG_USE_SEMAPHORES)
+#error "DMA2D_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"
+#endif
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/* Complex types forwarding.*/
+typedef union dma2d_coloralias_t dma2d_coloralias_t;
+typedef struct dma2d_palcfg_t dma2d_palcfg_t;
+typedef struct dma2d_laycfg_t dma2d_layercfg_t;
+typedef struct DMA2DConfig DMA2DConfig;
+typedef enum dma2d_state_t dma2d_state_t;
+typedef struct DMA2DDriver DMA2DDriver;
+
+/**
+ * @name    DMA2D Data types
+ * @{
+ */
+
+/**
+ * @brief   DMA2D generic color.
+ */
+typedef uint32_t dma2d_color_t;
+
+/**
+ * @brief   DMA2D color aliases.
+ * @detail  Mapped with ARGB-8888, except for luminance (L mapped onto B).
+ *          Padding fields are prefixed with <tt>'x'</tt>, and should be clear
+ *          (all 0) before compression and set (all 1) after expansion.
+ */
+typedef union dma2d_coloralias_t {
+  struct {
+    unsigned  b     :  8;
+    unsigned  g     :  8;
+    unsigned  r     :  8;
+    unsigned  a     :  8;
+  }             argb8888;           /**< Mapped ARGB-8888 bits.*/
+  struct {
+    unsigned  b     :  8;
+    unsigned  g     :  8;
+    unsigned  r     :  8;
+    unsigned  xa    :  8;
+  }             rgb888;             /**< Mapped RGB-888 bits.*/
+  struct {
+    unsigned  xb    :  3;
+    unsigned  b     :  5;
+    unsigned  xg    :  2;
+    unsigned  g     :  6;
+    unsigned  xr    :  3;
+    unsigned  r     :  5;
+    unsigned  xa    :  8;
+  }             rgb565;             /**< Mapped RGB-565 bits.*/
+  struct {
+    unsigned  xb    :  3;
+    unsigned  b     :  5;
+    unsigned  xg    :  3;
+    unsigned  g     :  5;
+    unsigned  xr    :  3;
+    unsigned  r     :  5;
+    unsigned  xa    :  7;
+    unsigned  a     :  1;
+  }             argb1555;           /**< Mapped ARGB-1555 values.*/
+  struct {
+    unsigned  xb    :  4;
+    unsigned  b     :  4;
+    unsigned  xg    :  4;
+    unsigned  g     :  4;
+    unsigned  xr    :  4;
+    unsigned  r     :  4;
+    unsigned  xa    :  4;
+    unsigned  a     :  4;
+  }             argb4444;           /**< Mapped ARGB-4444 values.*/
+  struct {
+    unsigned  l     :  8;
+    unsigned  x     : 16;
+    unsigned  xa    :  8;
+  }             l8;                 /**< Mapped L-8 bits.*/
+  struct {
+    unsigned  xl    :  4;
+    unsigned  l     :  4;
+    unsigned  x     : 16;
+    unsigned  xa    :  4;
+    unsigned  a     :  4;
+  }             al44;               /**< Mapped AL-44 bits.*/
+  struct {
+    unsigned  l     :  8;
+    unsigned  x     : 16;
+    unsigned  a     :  8;
+  }             al88;               /**< Mapped AL-88 bits.*/
+  struct {
+    unsigned  l     :  4;
+    unsigned  xl    :  4;
+    unsigned  x     : 16;
+    unsigned  xa    :  8;
+  }             l4;                 /**< Mapped L-4 bits.*/
+  struct {
+    unsigned  x     : 24;
+    unsigned  a     :  8;
+  }             a8;                 /**< Mapped A-8 bits.*/
+  struct {
+    unsigned  x     : 24;
+    unsigned  xa    :  4;
+    unsigned  a     :  4;
+  }             a4;                 /**< Mapped A-4 bits.*/
+  dma2d_color_t  aliased;           /**< Aliased raw bits.*/
+} dma2d_coloralias_t;
+
+/**
+ * @brief   DMA2D job (transfer) mode.
+ */
+typedef uint32_t dma2d_jobmode_t;
+
+/**
+ * @brief   DMA2D pixel format.
+ */
+typedef uint32_t dma2d_pixfmt_t;
+
+/**
+ * @brief   DMA2D alpha mode.
+ */
+typedef uint32_t dma2d_amode_t;
+
+/**
+ * @brief   DMA2D ISR callback.
+ */
+typedef void (*dma2d_isrcb_t)(DMA2DDriver *dma2dp);
+
+/**
+ * @brief   DMA2D palette specifications.
+ */
+typedef struct dma2d_palcfg_t {
+  const void        *colorsp;         /**< Pointer to color entries.*/
+  uint16_t          length;           /**< Number of color entries.*/
+  dma2d_pixfmt_t    fmt;              /**< Format, RGB-888 or ARGB-8888.*/
+} dma2d_palcfg_t;
+
+/**
+ * @brief   DMA2D layer specifications.
+ */
+typedef struct dma2d_layercfg_t {
+  void                  *bufferp;     /**< Frame buffer address.*/
+  size_t                wrap_offset;  /**< Offset between lines, in pixels.*/
+  dma2d_pixfmt_t        fmt;          /**< Pixel format.*/
+  dma2d_color_t         def_color;    /**< Default color, RGB-888.*/
+  uint8_t               const_alpha;  /**< Constant alpha factor.*/
+  const dma2d_palcfg_t  *palettep;    /**< Palette specs, or @p NULL.*/
+} dma2d_laycfg_t;
+
+/**
+ * @brief   DMA2D driver configuration.
+ */
+typedef struct DMA2DConfig {
+  /* ISR callbacks.*/
+  dma2d_isrcb_t     cfgerr_isr;       /**< Configuration error, or @p NULL.*/
+  dma2d_isrcb_t     paltrfdone_isr;   /**< Palette transfer done, or @p NULL.*/
+  dma2d_isrcb_t     palacserr_isr;    /**< Palette access error, or @p NULL.*/
+  dma2d_isrcb_t     trfwmark_isr;     /**< Transfer watermark, or @p NULL.*/
+  dma2d_isrcb_t     trfdone_isr;      /**< Transfer complete, or @p NULL.*/
+  dma2d_isrcb_t     trferr_isr;       /**< Transfer error, or @p NULL.*/
+} DMA2DConfig;
+
+/**
+ * @brief   DMA2D driver state.
+ */
+typedef enum dma2d_state_t {
+  DMA2D_UNINIT      = (0),            /**< Not initialized.*/
+  DMA2D_STOP        = (1),            /**< Stopped.*/
+  DMA2D_READY       = (2),            /**< Ready.*/
+  DMA2D_ACTIVE      = (3),            /**< Executing commands.*/
+  DMA2D_PAUSED      = (4),            /**< Transfer suspended.*/
+} dma2d_state_t;
+
+/**
+ * @brief   DMA2D driver.
+ */
+typedef struct DMA2DDriver {
+  dma2d_state_t     state;          /**< Driver state.*/
+  const DMA2DConfig *config;        /**< Driver configuration.*/
+
+  /* Multithreading stuff.*/
+#if (TRUE == DMA2D_USE_WAIT) || defined(__DOXYGEN__)
+  thread_t          *thread;        /**< Waiting thread.*/
+#endif  /* DMA2D_USE_WAIT */
+#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  mutex_t           lock;           /**< Multithreading lock.*/
+#elif (TRUE == CH_CFG_USE_SEMAPHORES)
+  semaphore_t       lock;           /**< Multithreading lock.*/
+#endif
+#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */
+} DMA2DDriver;
+
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Makes an ARGB-8888 value from byte components.
+ *
+ * @param[in] a         alpha byte component
+ * @param[in] r         red byte component
+ * @param[in] g         green byte component
+ * @param[in] b         blue byte component
+ *
+ * @return              color in ARGB-8888 format
+ *
+ * @api
+ */
+#define dma2dMakeARGB8888(a, r, g, b) \
+  ((((dma2d_color_t)(a) & 0xFF) << 24) | \
+   (((dma2d_color_t)(r) & 0xFF) << 16) | \
+   (((dma2d_color_t)(g) & 0xFF) <<  8) | \
+   (((dma2d_color_t)(b) & 0xFF) <<  0))
+
+/**
+ * @brief   Compute bytes per pixel.
+ * @details Computes the bytes per pixel for the specified pixel format.
+ *          Rounds to the ceiling.
+ *
+ * @param[in] fmt       pixel format
+ *
+ * @return              bytes per pixel
+ *
+ * @api
+ */
+#define dma2dBytesPerPixel(fmt) \
+  ((dma2dBitsPerPixel(fmt) + 7) >> 3)
+
+/**
+ * @brief   Compute pixel address.
+ * @details Computes the buffer address of a pixel, given the buffer
+ *          specifications.
+ *
+ * @param[in] originp   buffer origin address
+ * @param[in] pitch     buffer pitch, in bytes
+ * @param[in] fmt       buffer pixel format
+ * @param[in] x         horizontal pixel coordinate
+ * @param[in] y         vertical pixel coordinate
+ *
+ * @return              pixel address
+ *
+ * @api
+ */
+#define dma2dComputeAddress(originp, pitch, fmt, x, y) \
+  ((void *)dma2dComputeAddressConst(originp, pitch, fmt, x, y))
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern DMA2DDriver DMA2DD1;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+  /* Driver methods.*/
+  void dma2dInit(void);
+  void dma2dObjectInit(DMA2DDriver *dma2dp);
+  dma2d_state_t dma2dGetStateI(DMA2DDriver *dma2dp);
+  dma2d_state_t dma2dGetState(DMA2DDriver *dma2dp);
+  void dma2dStart(DMA2DDriver *dma2dp, const DMA2DConfig *configp);
+  void dma2dStop(DMA2DDriver *dma2dp);
+#if (TRUE == DMA2D_USE_MUTUAL_EXCLUSION)
+  void dma2dAcquireBusS(DMA2DDriver *dma2dp);
+  void dma2dAcquireBus(DMA2DDriver *dma2dp);
+  void dma2dReleaseBusS(DMA2DDriver *dma2dp);
+  void dma2dReleaseBus(DMA2DDriver *dma2dp);
+#endif  /* DMA2D_USE_MUTUAL_EXCLUSION */
+
+  /* Global methods.*/
+  uint16_t dma2dGetWatermarkPosI(DMA2DDriver *dma2dp);
+  uint16_t dma2dGetWatermarkPos(DMA2DDriver *dma2dp);
+  void dma2dSetWatermarkPosI(DMA2DDriver *dma2dp, uint16_t line);
+  void dma2dSetWatermarkPos(DMA2DDriver *dma2dp, uint16_t line);
+  bool dma2dIsWatermarkEnabledI(DMA2DDriver *dma2dp);
+  bool dma2dIsWatermarkEnabled(DMA2DDriver *dma2dp);
+  void dma2dEnableWatermarkI(DMA2DDriver *dma2dp);
+  void dma2dEnableWatermark(DMA2DDriver *dma2dp);
+  void dma2dDisableWatermarkI(DMA2DDriver *dma2dp);
+  void dma2dDisableWatermark(DMA2DDriver *dma2dp);
+  uint32_t dma2dGetDeadTimeI(DMA2DDriver *dma2dp);
+  uint32_t dma2dGetDeadTime(DMA2DDriver *dma2dp);
+  void dma2dSetDeadTimeI(DMA2DDriver *dma2dp, uint32_t cycles);
+  void dma2dSetDeadTime(DMA2DDriver *dma2dp, uint32_t cycles);
+  bool dma2dIsDeadTimeEnabledI(DMA2DDriver *dma2dp);
+  bool dma2dIsDeadTimeEnabled(DMA2DDriver *dma2dp);
+  void dma2dEnableDeadTimeI(DMA2DDriver *dma2dp);
+  void dma2dEnableDeadTime(DMA2DDriver *dma2dp);
+  void dma2dDisableDeadTimeI(DMA2DDriver *dma2dp);
+  void dma2dDisableDeadTime(DMA2DDriver *dma2dp);
+
+  /* Job methods.*/
+  dma2d_jobmode_t dma2dJobGetModeI(DMA2DDriver *dma2dp);
+  dma2d_jobmode_t dma2dJobGetMode(DMA2DDriver *dma2dp);
+  void dma2dJobSetModeI(DMA2DDriver *dma2dp, dma2d_jobmode_t mode);
+  void dma2dJobSetMode(DMA2DDriver *dma2dp, dma2d_jobmode_t mode);
+  void dma2dJobGetSizeI(DMA2DDriver *dma2dp,
+                        uint16_t *widthp, uint16_t *heightp);
+  void dma2dJobGetSize(DMA2DDriver *dma2dp,
+                       uint16_t *widthp, uint16_t *heightp);
+  void dma2dJobSetSizeI(DMA2DDriver *dma2dp, uint16_t width, uint16_t height);
+  void dma2dJobSetSize(DMA2DDriver *dma2dp, uint16_t width, uint16_t height);
+  bool dma2dJobIsExecutingI(DMA2DDriver *dma2dp);
+  bool dma2dJobIsExecuting(DMA2DDriver *dma2dp);
+  void dma2dJobStartI(DMA2DDriver *dma2dp);
+  void dma2dJobStart(DMA2DDriver *dma2dp);
+  void dma2dJobExecuteS(DMA2DDriver *dma2dp);
+  void dma2dJobExecute(DMA2DDriver *dma2dp);
+  void dma2dJobSuspendI(DMA2DDriver *dma2dp);
+  void dma2dJobSuspend(DMA2DDriver *dma2dp);
+  void dma2dJobResumeI(DMA2DDriver *dma2dp);
+  void dma2dJobResume(DMA2DDriver *dma2dp);
+  void dma2dJobAbortI(DMA2DDriver *dma2dp);
+  void dma2dJobAbort(DMA2DDriver *dma2dp);
+
+  /* Background layer methods.*/
+  void *dma2dBgGetAddressI(DMA2DDriver *dma2dp);
+  void *dma2dBgGetAddress(DMA2DDriver *dma2dp);
+  void dma2dBgSetAddressI(DMA2DDriver *dma2dp, void *bufferp);
+  void dma2dBgSetAddress(DMA2DDriver *dma2dp, void *bufferp);
+  size_t dma2dBgGetWrapOffsetI(DMA2DDriver *dma2dp);
+  size_t dma2dBgGetWrapOffset(DMA2DDriver *dma2dp);
+  void dma2dBgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);
+  void dma2dBgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);
+  uint8_t dma2dBgGetConstantAlphaI(DMA2DDriver *dma2dp);
+  uint8_t dma2dBgGetConstantAlpha(DMA2DDriver *dma2dp);
+  void dma2dBgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a);
+  void dma2dBgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a);
+  dma2d_amode_t dma2dBgGetAlphaModeI(DMA2DDriver *dma2dp);
+  dma2d_amode_t dma2dBgGetAlphaMode(DMA2DDriver *dma2dp);
+  void dma2dBgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode);
+  void dma2dBgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode);
+  dma2d_pixfmt_t dma2dBgGetPixelFormatI(DMA2DDriver *dma2dp);
+  dma2d_pixfmt_t dma2dBgGetPixelFormat(DMA2DDriver *dma2dp);
+  void dma2dBgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  void dma2dBgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  dma2d_color_t dma2dBgGetDefaultColorI(DMA2DDriver *dma2dp);
+  dma2d_color_t dma2dBgGetDefaultColor(DMA2DDriver *dma2dp);
+  void dma2dBgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dBgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dBgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);
+  void dma2dBgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);
+  void dma2dBgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);
+  void dma2dBgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);
+  void dma2dBgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dBgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dBgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+  void dma2dBgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+
+  /* Foreground layer methods.*/
+  void *dma2dFgGetAddressI(DMA2DDriver *dma2dp);
+  void *dma2dFgGetAddress(DMA2DDriver *dma2dp);
+  void dma2dFgSetAddressI(DMA2DDriver *dma2dp, void *bufferp);
+  void dma2dFgSetAddress(DMA2DDriver *dma2dp, void *bufferp);
+  size_t dma2dFgGetWrapOffsetI(DMA2DDriver *dma2dp);
+  size_t dma2dFgGetWrapOffset(DMA2DDriver *dma2dp);
+  void dma2dFgSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);
+  void dma2dFgSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);
+  uint8_t dma2dFgGetConstantAlphaI(DMA2DDriver *dma2dp);
+  uint8_t dma2dFgGetConstantAlpha(DMA2DDriver *dma2dp);
+  void dma2dFgSetConstantAlphaI(DMA2DDriver *dma2dp, uint8_t a);
+  void dma2dFgSetConstantAlpha(DMA2DDriver *dma2dp, uint8_t a);
+  dma2d_amode_t dma2dFgGetAlphaModeI(DMA2DDriver *dma2dp);
+  dma2d_amode_t dma2dFgGetAlphaMode(DMA2DDriver *dma2dp);
+  void dma2dFgSetAlphaModeI(DMA2DDriver *dma2dp, dma2d_amode_t mode);
+  void dma2dFgSetAlphaMode(DMA2DDriver *dma2dp, dma2d_amode_t mode);
+  dma2d_pixfmt_t dma2dFgGetPixelFormatI(DMA2DDriver *dma2dp);
+  dma2d_pixfmt_t dma2dFgGetPixelFormat(DMA2DDriver *dma2dp);
+  void dma2dFgSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  void dma2dFgSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  dma2d_color_t dma2dFgGetDefaultColorI(DMA2DDriver *dma2dp);
+  dma2d_color_t dma2dFgGetDefaultColor(DMA2DDriver *dma2dp);
+  void dma2dFgSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dFgSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dFgGetPaletteI(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);
+  void dma2dFgGetPalette(DMA2DDriver *dma2dp, dma2d_palcfg_t *palettep);
+  void dma2dFgSetPaletteS(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);
+  void dma2dFgSetPalette(DMA2DDriver *dma2dp, const dma2d_palcfg_t *palettep);
+  void dma2dFgGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dFgGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dFgSetConfigS(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+  void dma2dFgSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+
+  /* Output layer methods.*/
+  void *dma2dOutGetAddressI(DMA2DDriver *dma2dp);
+  void *dma2dOutGetAddress(DMA2DDriver *dma2dp);
+  void dma2dOutSetAddressI(DMA2DDriver *dma2dp, void *bufferp);
+  void dma2dOutSetAddress(DMA2DDriver *dma2dp, void *bufferp);
+  size_t dma2dOutGetWrapOffsetI(DMA2DDriver *dma2dp);
+  size_t dma2dOutGetWrapOffset(DMA2DDriver *dma2dp);
+  void dma2dOutSetWrapOffsetI(DMA2DDriver *dma2dp, size_t offset);
+  void dma2dOutSetWrapOffset(DMA2DDriver *dma2dp, size_t offset);
+  dma2d_pixfmt_t dma2dOutGetPixelFormatI(DMA2DDriver *dma2dp);
+  dma2d_pixfmt_t dma2dOutGetPixelFormat(DMA2DDriver *dma2dp);
+  void dma2dOutSetPixelFormatI(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  void dma2dOutSetPixelFormat(DMA2DDriver *dma2dp, dma2d_pixfmt_t fmt);
+  dma2d_color_t dma2dOutGetDefaultColorI(DMA2DDriver *dma2dp);
+  dma2d_color_t dma2dOutGetDefaultColor(DMA2DDriver *dma2dp);
+  void dma2dOutSetDefaultColorI(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dOutSetDefaultColor(DMA2DDriver *dma2dp, dma2d_color_t c);
+  void dma2dOutGetLayerI(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dOutGetLayer(DMA2DDriver *dma2dp, dma2d_laycfg_t *cfgp);
+  void dma2dOutSetConfigI(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+  void dma2dOutSetConfig(DMA2DDriver *dma2dp, const dma2d_laycfg_t *cfgp);
+
+  /* Helper functions.*/
+  const void *dma2dComputeAddressConst(const void *originp, size_t pitch,
+                                       dma2d_pixfmt_t fmt,
+                                       uint16_t x, uint16_t y);
+  bool dma2dIsAligned(const void *bufferp, dma2d_pixfmt_t fmt);
+  size_t dma2dBitsPerPixel(dma2d_pixfmt_t fmt);
+#if (TRUE == DMA2D_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)
+  dma2d_color_t dma2dFromARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt);
+  dma2d_color_t dma2dToARGB8888(dma2d_color_t c, dma2d_pixfmt_t fmt);
+#endif  /* DMA2D_USE_SOFTWARE_CONVERSIONS */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* STM32_DMA2D_USE_DMA2D */
+
+#endif  /* _STM32_DMA2D_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc.c b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc.c
index 27bc429..fe48696 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc.c
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc.c
@@ -22,7 +22,7 @@
  * @{
  */
 #include "hal.h"
-#include "fsmc.h"
+#include "hal_fsmc.h"
 
 #if (HAL_USE_FSMC == TRUE) || defined(__DOXYGEN__)
 
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc.h b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc.h
index 7889b01..7889b01 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc.h
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc.h
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sdram.c b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sdram.c
index d8db8a6..95f47d5 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sdram.c
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sdram.c
@@ -32,7 +32,7 @@
 
 #if (STM32_USE_FSMC_SDRAM == TRUE) || defined(__DOXYGEN__)
 
-#include "fsmc_sdram.h"
+#include "hal_fsmc_sdram.h"
 
 /*===========================================================================*/
 /* Driver local definitions.                                                 */
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sdram.h b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sdram.h
index d5d5476..cef6772 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sdram.h
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sdram.h
@@ -31,7 +31,7 @@
 #if (defined(STM32F427xx) || defined(STM32F437xx) || \
      defined(STM32F429xx) || defined(STM32F439xx))
 
-#include "fsmc.h"
+#include "hal_fsmc.h"
 
 #if (STM32_USE_FSMC_SDRAM == TRUE) || defined(__DOXYGEN__)
 
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.c b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sram.c
index 2375738..6f710d4 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.c
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sram.c
@@ -22,7 +22,7 @@
  * @{
  */
 #include "hal.h"
-#include "fsmc_sram.h"
+#include "hal_fsmc_sram.h"
 
 #if (STM32_USE_FSMC_SRAM == TRUE) || defined(__DOXYGEN__)
 
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.h b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sram.h
index bf5c32a..529bdc7 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.h
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sram.h
@@ -25,7 +25,7 @@
 #ifndef _FSMC_SRAM_H_
 #define _FSMC_SRAM_H_
 
-#include "fsmc.h"
+#include "hal_fsmc.h"
 
 #if (STM32_USE_FSMC_SRAM == TRUE) || defined(__DOXYGEN__)
 
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/nand_lld.c b/os/hal/ports/STM32/LLD/FSMCv1/hal_nand_lld.c
index b37c026..b37c026 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/nand_lld.c
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_nand_lld.c
diff --git a/os/hal/ports/STM32/LLD/FSMCv1/nand_lld.h b/os/hal/ports/STM32/LLD/FSMCv1/hal_nand_lld.h
index c891fcc..8dca42f 100644
--- a/os/hal/ports/STM32/LLD/FSMCv1/nand_lld.h
+++ b/os/hal/ports/STM32/LLD/FSMCv1/hal_nand_lld.h
@@ -25,7 +25,7 @@
 #ifndef _NAND_LLD_H_
 #define _NAND_LLD_H_
 
-#include "fsmc.h"
+#include "hal_fsmc.h"
 #include "bitmap.h"
 
 #if (HAL_USE_NAND == TRUE) || defined(__DOXYGEN__)
diff --git a/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.c b/os/hal/ports/STM32/LLD/LTDCv1/hal_stm32_ltdc.c
index 7037a7c..e5f9a09 100644
--- a/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.c
+++ b/os/hal/ports/STM32/LLD/LTDCv1/hal_stm32_ltdc.c
@@ -1,3792 +1,3792 @@
-/*

-    Copyright (C) 2013-2015 Andrea Zoppi

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    stm32_ltdc.c

- * @brief   LCD-TFT Controller Driver.

- */

-

-#include "ch.h"

-#include "hal.h"

-

-#include "stm32_ltdc.h"

-

-#if (TRUE == STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)

-

-/* TODO: Check preconditions (e.g., LTDC is ready).*/

-

-/* Ignore annoying warning messages for actually safe code.*/

-#if defined(__GNUC__) && !defined(__DOXYGEN__)

-#pragma GCC diagnostic ignored "-Wtype-limits"

-#endif

-

-/**

- * @addtogroup ltdc

- * @{

- */

-

-/*===========================================================================*/

-/* Driver local definitions.                                                 */

-/*===========================================================================*/

-

-#if !defined(LTDC_LxBFCR_BF) && !defined(__DOXYGEN__)

-#define LTDC_LxBFCR_BF  (LTDC_LxBFCR_BF1 | LTDC_LxBFCR_BF2)

-#endif

-

-/*===========================================================================*/

-/* Driver exported variables.                                                */

-/*===========================================================================*/

-

-/**

- * @brief   LTDC1 driver identifier.

- */

-LTDCDriver LTDCD1;

-

-/*===========================================================================*/

-/* Driver local variables and types.                                         */

-/*===========================================================================*/

-

-/**

- * @brief   Bits per pixel lookup table.

- */

-static const uint8_t ltdc_bpp[LTDC_MAX_PIXFMT_ID + 1] = {

-  32,  /* LTDC_FMT_ARGB8888 */

-  24,  /* LTDC_FMT_RGB888 */

-  16,  /* LTDC_FMT_RGB565 */

-  16,  /* LTDC_FMT_ARGB1555 */

-  16,  /* LTDC_FMT_ARGB4444 */

-   8,  /* LTDC_FMT_L8 */

-   8,  /* LTDC_FMT_AL44 */

-  16   /* LTDC_FMT_AL88 */

-};

-

-/**

- * @brief   Invalid frame.

- */

-static const ltdc_frame_t ltdc_invalid_frame = {

-  NULL,

-  1,

-  1,

-  1,

-  LTDC_FMT_L8

-};

-

-/**

- * @brief   Invalid window.

- * @details Pixel size, located at the origin of the screen.

- */

-static const ltdc_window_t ltdc_invalid_window = {

-  0,

-  1,

-  0,

-  1

-};

-

-/**

- * @brief   Default layer specifications.

- */

-static const ltdc_laycfg_t ltdc_default_laycfg = {

-  &ltdc_invalid_frame,

-  &ltdc_invalid_window,

-  LTDC_COLOR_BLACK,

-  0x00,

-  LTDC_COLOR_BLACK,

-  NULL,

-  0,

-  LTDC_BLEND_FIX1_FIX2,

-  0

-};

-

-/*===========================================================================*/

-/* Driver local functions.                                                   */

-/*===========================================================================*/

-

-/**

- * @brief   Forces LTDC register reload.

- * @details Blocking function.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @sclass

- * @notapi

- */

-static void ltdc_force_reload_s(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  LTDC->SRCR |= LTDC_SRCR_IMR;

-  while (LTDC->SRCR & (LTDC_SRCR_IMR | LTDC_SRCR_VBR))

-    chSchDoYieldS();

-}

-

-/*===========================================================================*/

-/* Driver exported functions.                                                */

-/*===========================================================================*/

-

-/**

- * @name    LTDC interrupt handlers

- * @{

- */

-

-/**

- * @brief   LTDC event interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_LTDC_EV_HANDLER) {

-

-  LTDCDriver *const ltdcp = &LTDCD1;

-  thread_t *tp = NULL;

-

-  OSAL_IRQ_PROLOGUE();

-

-  /* Handle Line Interrupt ISR.*/

-  if ((LTDC->ISR & LTDC_ISR_LIF) && (LTDC->IER & LTDC_IER_LIE)) {

-    osalDbgAssert(ltdcp->config->line_isr != NULL, "invalid state");

-    ltdcp->config->line_isr(ltdcp);

-    LTDC->ICR |= LTDC_ICR_CLIF;

-  }

-

-  /* Handle Register Reload ISR.*/

-  if ((LTDC->ISR & LTDC_ISR_RRIF) && (LTDC->IER & LTDC_IER_RRIE)) {

-    if (ltdcp->config->rr_isr != NULL)

-      ltdcp->config->rr_isr(ltdcp);

-

-    osalSysLockFromISR();

-    osalDbgAssert(ltdcp->state == LTDC_ACTIVE, "invalid state");

-#if (TRUE == LTDC_USE_WAIT)

-    /* Wake the waiting thread up.*/

-    if (ltdcp->thread != NULL) {

-      tp = ltdcp->thread;

-      ltdcp->thread = NULL;

-      tp->u.rdymsg = MSG_OK;

-      chSchReadyI(tp);

-    }

-#endif  /* LTDC_USE_WAIT */

-    ltdcp->state = LTDC_READY;

-    osalSysUnlockFromISR();

-

-    LTDC->ICR |= LTDC_ICR_CRRIF;

-  }

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/**

- * @brief   LTDC error interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_LTDC_ER_HANDLER) {

-

-  static LTDCDriver *const ltdcp = &LTDCD1;

-

-  OSAL_IRQ_PROLOGUE();

-

-  /* Handle FIFO Underrun ISR.*/

-  if ((LTDC->ISR & LTDC_ISR_FUIF) && (LTDC->IER & LTDC_IER_FUIE)) {

-    osalDbgAssert(ltdcp->config->fuerr_isr != NULL, "invalid state");

-    ltdcp->config->fuerr_isr(ltdcp);

-    LTDC->ICR |= LTDC_ICR_CFUIF;

-  }

-

-  /* Handle Transfer Error ISR.*/

-  if ((LTDC->ISR & LTDC_ISR_TERRIF) && (LTDC->IER & LTDC_IER_TERRIE)) {

-    osalDbgAssert(ltdcp->config->terr_isr != NULL, "invalid state");

-    ltdcp->config->terr_isr(ltdcp);

-    LTDC->ICR |= LTDC_ICR_CTERRIF;

-  }

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/** @} */

-

-/**

- * @name    LTDC driver-specific methods

- * @{

- */

-

-/**

- * @brief   LTDC Driver initialization.

- * @details Initializes the LTDC subsystem and chosen drivers. Should be

- *          called at board initialization.

- *

- * @init

- */

-void ltdcInit(void) {

-

-  /* Reset the LTDC hardware module.*/

-  rccResetLTDC();

-

-  /* Enable the LTDC clock.*/

-  RCC->DCKCFGR = (RCC->DCKCFGR & ~RCC_DCKCFGR_PLLSAIDIVR) | (2 << 16); /* /8 */

-  rccEnableLTDC(false);

-

-  /* Driver struct initialization.*/

-  ltdcObjectInit(&LTDCD1);

-  LTDCD1.state = LTDC_STOP;

-}

-

-/**

- * @brief   Initializes the standard part of a @p LTDCDriver structure.

- *

- * @param[out] ltdcp    pointer to the @p LTDCDriver object

- *

- * @init

- */

-void ltdcObjectInit(LTDCDriver *ltdcp) {

-

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  ltdcp->state = LTDC_UNINIT;

-  ltdcp->config = NULL;

-  ltdcp->active_window = ltdc_invalid_window;

-#if (TRUE == LTDC_USE_WAIT)

-  ltdcp->thread = NULL;

-#endif  /* LTDC_USE_WAIT */

-#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxObjectInit(&ltdcp->lock);

-#else

-  chSemObjectInit(&ltdcp->lock, 1);

-#endif

-#endif  /* LTDC_USE_MUTUAL_EXCLUSION */

-}

-

-/**

- * @brief   Get the driver state.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @retun               driver state

- *

- * @iclass

- */

-ltdc_state_t ltdcGetStateI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  return ltdcp->state;

-}

-

-/**

- * @brief   Get the driver state.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @retun               driver state

- *

- * @api

- */

-ltdc_state_t ltdcGetState(LTDCDriver *ltdcp) {

-

-  ltdc_state_t state;

-  osalSysLock();

-  state = ltdcGetStateI(ltdcp);

-  osalSysUnlock();

-  return state;

-}

-

-/**

- * @brief   Configures and activates the LTDC peripheral.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] configp   pointer to the @p LTDCConfig object

- *

- * @api

- */

-void ltdcStart(LTDCDriver *ltdcp, const LTDCConfig *configp) {

-

-  uint32_t hacc, vacc, flags;

-

-  osalSysLock();

-

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(configp != NULL);

-  osalDbgAssert(ltdcp->state == LTDC_STOP, "invalid state");

-

-  ltdcp->config = configp;

-

-  /* Turn off the controller and its interrupts.*/

-  LTDC->GCR = 0;

-  LTDC->IER = 0;

-  ltdc_force_reload_s(ltdcp);

-

-  /* Set synchronization params.*/

-  osalDbgAssert(configp->hsync_width >= LTDC_MIN_HSYNC_WIDTH, "bounds");

-  osalDbgAssert(configp->hsync_width <= LTDC_MAX_HSYNC_WIDTH, "bounds");

-  osalDbgAssert(configp->vsync_height >= LTDC_MIN_VSYNC_HEIGHT, "bounds");

-  osalDbgAssert(configp->vsync_height <= LTDC_MAX_VSYNC_HEIGHT, "bounds");

-

-  hacc = configp->hsync_width - 1;

-  vacc = configp->vsync_height - 1;

-

-  LTDC->SSCR = (((hacc << 16) & LTDC_SSCR_HSW) |

-                ((vacc <<  0) & LTDC_SSCR_VSH));

-

-  /* Set accumulated back porch params.*/

-  osalDbgAssert(configp->hbp_width >= LTDC_MIN_HBP_WIDTH, "bounds");

-  osalDbgAssert(configp->hbp_width <= LTDC_MAX_HBP_WIDTH, "bounds");

-  osalDbgAssert(configp->vbp_height >= LTDC_MIN_VBP_HEIGHT, "bounds");

-  osalDbgAssert(configp->vbp_height <= LTDC_MAX_VBP_HEIGHT, "bounds");

-

-  hacc += configp->hbp_width;

-  vacc += configp->vbp_height;

-

-  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_HBP_WIDTH, "bounds");

-  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_HBP_WIDTH, "bounds");

-  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_VBP_HEIGHT, "bounds");

-  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_VBP_HEIGHT, "bounds");

-

-  LTDC->BPCR = (((hacc << 16) & LTDC_BPCR_AHBP) |

-                ((vacc <<  0) & LTDC_BPCR_AVBP));

-

-  ltdcp->active_window.hstart = hacc + 1;

-  ltdcp->active_window.vstart = vacc + 1;

-

-  /* Set accumulated active params.*/

-  osalDbgAssert(configp->screen_width >= LTDC_MIN_SCREEN_WIDTH, "bounds");

-  osalDbgAssert(configp->screen_width <= LTDC_MAX_SCREEN_WIDTH, "bounds");

-  osalDbgAssert(configp->screen_height >= LTDC_MIN_SCREEN_HEIGHT, "bounds");

-  osalDbgAssert(configp->screen_height <= LTDC_MAX_SCREEN_HEIGHT, "bounds");

-

-  hacc += configp->screen_width;

-  vacc += configp->screen_height;

-

-  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_ACTIVE_WIDTH, "bounds");

-  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_ACTIVE_WIDTH, "bounds");

-  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_ACTIVE_HEIGHT, "bounds");

-  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_ACTIVE_HEIGHT, "bounds");

-

-  LTDC->AWCR = (((hacc << 16) & LTDC_AWCR_AAW) |

-                ((vacc <<  0) & LTDC_AWCR_AAH));

-

-  ltdcp->active_window.hstop = hacc;

-  ltdcp->active_window.vstop = vacc;

-

-  /* Set accumulated total params.*/

-  osalDbgAssert(configp->hfp_width >= LTDC_MIN_HFP_WIDTH, "bounds");

-  osalDbgAssert(configp->hfp_width <= LTDC_MAX_HFP_WIDTH, "bounds");

-  osalDbgAssert(configp->vfp_height >= LTDC_MIN_VFP_HEIGHT, "bounds");

-  osalDbgAssert(configp->vfp_height <= LTDC_MAX_VFP_HEIGHT, "bounds");

-

-  hacc += configp->hfp_width;

-  vacc += configp->vfp_height;

-

-  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_TOTAL_WIDTH, "bounds");

-  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_TOTAL_WIDTH, "bounds");

-  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_TOTAL_HEIGHT, "bounds");

-  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_TOTAL_HEIGHT, "bounds");

-

-  LTDC->TWCR = (((hacc << 16) & LTDC_TWCR_TOTALW) |

-                ((vacc <<  0) & LTDC_TWCR_TOTALH));

-

-  /* Set signal polarities and other flags.*/

-  ltdcSetEnableFlagsI(ltdcp, configp->flags & ~LTDC_EF_ENABLE);

-

-  /* Color settings.*/

-  ltdcSetClearColorI(ltdcp, configp->clear_color);

-

-  /* Load layer configurations.*/

-  ltdcBgSetConfigI(ltdcp, configp->bg_laycfg);

-  ltdcFgSetConfigI(ltdcp, configp->fg_laycfg);

-

-  /* Enable only the assigned interrupt service routines.*/

-  nvicEnableVector(STM32_LTDC_EV_NUMBER, STM32_LTDC_EV_IRQ_PRIORITY);

-  nvicEnableVector(STM32_LTDC_ER_NUMBER, STM32_LTDC_ER_IRQ_PRIORITY);

-

-  flags = LTDC_IER_RRIE;

-  if (configp->line_isr != NULL)

-    flags |= LTDC_IER_LIE;

-  if (configp->fuerr_isr != NULL)

-    flags |= LTDC_IER_FUIE;

-  if (configp->terr_isr != NULL)

-    flags |= LTDC_IER_TERRIE;

-  LTDC->IER = flags;

-

-  /* Apply settings.*/

-  ltdc_force_reload_s(ltdcp);

-

-  /* Turn on the controller.*/

-  LTDC->GCR |= LTDC_GCR_LTDCEN;

-  ltdc_force_reload_s(ltdcp);

-

-  ltdcp->state = LTDC_READY;

-  osalSysUnlock();

-}

-

-/**

- * @brief   Deactivates the LTDC peripheral.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcStop(LTDCDriver *ltdcp) {

-

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  osalSysLock();

-  osalDbgAssert(ltdcp->state == LTDC_READY, "invalid state");

-

-  /* Turn off the controller and its interrupts.*/

-  LTDC->GCR &= ~LTDC_GCR_LTDCEN;

-  LTDC->IER = 0;

-#if (TRUE == LTDC_USE_WAIT)

-  ltdcReloadS(ltdcp, true);

-#else

-  ltdcStartReloadI(ltdcp, true);

-  while (ltdcIsReloadingI(ltdcp))

-    chSchDoYieldS();

-#endif  /* LTDC_USE_WAIT */

-

-  ltdcp->state = LTDC_STOP;

-  osalSysUnlock();

-}

-

-#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)

-

-/**

- * @brief   Gains exclusive access to the LTDC module.

- * @details This function tries to gain ownership to the LTDC module, if the

- *          module is already being used then the invoking thread is queued.

- * @pre     In order to use this function the option

- *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @sclass

- */

-void ltdcAcquireBusS(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxLockS(&ltdcp->lock);

-#else

-  chSemWaitS(&ltdcp->lock);

-#endif

-}

-

-/**

- * @brief   Gains exclusive access to the LTDC module.

- * @details This function tries to gain ownership to the LTDC module, if the

- *          module is already being used then the invoking thread is queued.

- * @pre     In order to use this function the option

- *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcAcquireBus(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcAcquireBusS(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Releases exclusive access to the LTDC module.

- * @pre     In order to use this function the option

- *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @sclass

- */

-void ltdcReleaseBusS(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  chMtxUnlockS(&ltdcp->lock);

-#else

-  chSemSignalI(&ltdcp->lock);

-#endif

-}

-

-/**

- * @brief   Releases exclusive access to the LTDC module.

- * @pre     In order to use this function the option

- *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcReleaseBus(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcReleaseBusS(ltdcp);

-  osalSysUnlock();

-}

-

-#endif  /* LTDC_USE_MUTUAL_EXCLUSION */

-

-/** @} */

-

-/**

- * @name    LTDC global methods

- * @{

- */

-

-/**

- * @brief   Get enabled flags.

- * @details Returns all the flags of the <tt>LTDC_EF_*</tt> group at once.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @iclass

- */

-ltdc_flags_t ltdcGetEnableFlagsI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return LTDC->GCR & LTDC_EF_MASK;

-}

-

-/**

- * @brief   Get enabled flags.

- * @details Returns all the flags of the <tt>LTDC_EF_*</tt> group at once.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @api

- */

-ltdc_flags_t ltdcGetEnableFlags(LTDCDriver *ltdcp) {

-

-  ltdc_flags_t flags;

-  osalSysLock();

-  flags = ltdcGetEnableFlagsI(ltdcp);

-  osalSysUnlock();

-  return flags;

-}

-

-/**

- * @brief   Set enabled flags.

- * @details Sets all the flags of the <tt>LTDC_EF_*</tt> group at once.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @iclass

- */

-void ltdcSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->GCR = flags & LTDC_EF_MASK;

-}

-

-/**

- * @brief   Set enabled flags.

- * @details Sets all the flags of the <tt>LTDC_EF_*</tt> group at once.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @api

- */

-void ltdcSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalSysLock();

-  ltdcSetEnableFlagsI(ltdcp, flags);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Reloading shadow registers.

- * @details Tells whether the LTDC is reloading shadow registers.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              reloading

- *

- * @iclass

- */

-bool ltdcIsReloadingI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC->SRCR & (LTDC_SRCR_IMR | LTDC_SRCR_VBR)) != 0;

-}

-

-/**

- * @brief   Reloading shadow registers.

- * @details Tells whether the LTDC is reloading shadow registers.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              reloading

- *

- * @api

- */

-bool ltdcIsReloading(LTDCDriver *ltdcp) {

-

-  bool reloading;

-  osalSysLock();

-  reloading = ltdcIsReloadingI(ltdcp);

-  osalSysUnlock();

-  return reloading;

-}

-

-/**

- * @brief   Reload shadow registers.

- * @details Starts reloading LTDC shadow registers, upon vsync or immediately.

- * @post    At the end of the operation the configured callback is invoked.

- *

- * @param[in] ltdcp         pointer to the @p LTDCDriver object

- * @param[in] immediately   reload immediately, not upon vsync

- *

- * @iclass

- */

-void ltdcStartReloadI(LTDCDriver *ltdcp, bool immediately) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgAssert(ltdcp->state == LTDC_READY, "not ready");

-  (void)ltdcp;

-

-  ltdcp->state = LTDC_ACTIVE;

-  if (immediately)

-    LTDC->SRCR |= LTDC_SRCR_IMR;

-  else

-    LTDC->SRCR |= LTDC_SRCR_VBR;

-}

-

-/**

- * @brief   Reload shadow registers.

- * @details Starts reloading LTDC shadow registers, upon vsync or immediately.

- * @post    At the end of the operation the configured callback is invoked.

- *

- * @param[in] ltdcp         pointer to the @p LTDCDriver object

- * @param[in] immediately   reload immediately, not upon vsync

- *

- * @api

- */

-void ltdcStartReload(LTDCDriver *ltdcp, bool immediately) {

-

-  osalSysLock();

-  ltdcStartReloadI(ltdcp, immediately);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Reload shadow registers.

- * @details Reloads LTDC shadow registers, upon vsync or immediately.

- *

- * @param[in] ltdcp         pointer to the @p LTDCDriver object

- * @param[in] immediately   reload immediately, not upon vsync

- *

- * @sclass

- */

-void ltdcReloadS(LTDCDriver *ltdcp, bool immediately) {

-

-  osalDbgCheckClassS();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  ltdcStartReloadI(ltdcp, immediately);

-

-#if (TRUE == LTDC_USE_WAIT)

-  osalDbgAssert(ltdcp->thread == NULL, "already waiting");

-

-  if (immediately) {

-    while (LTDC->SRCR & LTDC_SRCR_IMR)

-      chSchDoYieldS();

-    ltdcp->state = LTDC_READY;

-  } else {

-    ltdcp->thread = chThdGetSelfX();

-    chSchGoSleepS(CH_STATE_SUSPENDED);

-  }

-#else

-  while (LTDC->SRCR & LTDC_SRCR_IMR)

-    chSchDoYieldS();

-  ltdcp->state = LTDC_READY;

-#endif

-}

-

-/**

- * @brief   Reload shadow registers.

- * @details Reloads LTDC shadow registers, upon vsync or immediately.

- *

- * @param[in] ltdcp         pointer to the @p LTDCDriver object

- * @param[in] immediately   reload immediately, not upon vsync

- *

- * @api

- */

-void ltdcReload(LTDCDriver *ltdcp, bool immediately) {

-

-  osalSysLock();

-  ltdcReloadS(ltdcp, immediately);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Dithering enabled.

- * @details Tells whether the dithering is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcIsDitheringEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC->GCR & LTDC_GCR_DTEN) != 0;

-}

-

-/**

- * @brief   Dithering enabled.

- * @details Tells whether the dithering is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcIsDitheringEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcIsDitheringEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable dithering.

- * @details Enables dithering capabilities for pixel formats with less than

- *          8 bits per channel.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcEnableDitheringI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->GCR |= LTDC_GCR_DTEN;

-}

-

-/**

- * @brief   Enable dithering.

- * @details Enables dithering capabilities for pixel formats with less than

- *          8 bits per channel.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcEnableDithering(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcEnableDitheringI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable dithering.

- * @details Disables dithering capabilities for pixel formats with less than

- *          8 bits per channel.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcDisableDitheringI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->GCR &= ~LTDC_GCR_DTEN;

-}

-

-/**

- * @brief   Disable dithering.

- * @details Disables dithering capabilities for pixel formats with less than

- *          8 bits per channel.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcDisableDithering(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcDisableDitheringI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get clear screen color.

- * @details Gets the clear screen (actual background) color.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              clear screen color, RGB-888

- *

- * @iclass

- */

-ltdc_color_t ltdcGetClearColorI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_color_t)(LTDC->BCCR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get clear screen color.

- * @details Gets the clear screen (actual background) color.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              clear screen color, RGB-888

- *

- * @api

- */

-ltdc_color_t ltdcGetClearColor(LTDCDriver *ltdcp) {

-

-  ltdc_color_t color;

-  osalSysLock();

-  color = ltdcGetClearColorI(ltdcp);

-  osalSysUnlock();

-  return color;

-}

-

-/**

- * @brief   Set clear screen color.

- * @details Sets the clear screen (actual background) color.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         clear screen color, RGB-888

- *

- * @iclass

- */

-void ltdcSetClearColorI(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->BCCR = (LTDC->BCCR & ~0x00FFFFFF) | (c & 0x00FFFFFF);

-}

-

-/**

- * @brief   Set clear screen color.

- * @details Sets the clear screen (actual background) color.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         clear screen color, RGB-888

- *

- * @api

- */

-void ltdcSetClearColor(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcSetClearColorI(ltdcp, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get line interrupt position.

- * @details Gets the line interrupt position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              line interrupt position

- *

- * @iclass

- */

-uint16_t ltdcGetLineInterruptPosI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (uint16_t)(LTDC->LIPCR & LTDC_LIPCR_LIPOS);

-}

-

-/**

- * @brief   Get line interrupt position.

- * @details Gets the line interrupt position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              line interrupt position

- *

- * @api

- */

-uint16_t ltdcGetLineInterruptPos(LTDCDriver *ltdcp) {

-

-  uint16_t line;

-  osalSysLock();

-  line = ltdcGetLineInterruptPosI(ltdcp);

-  osalSysUnlock();

-  return line;

-}

-

-/**

- * @brief   Set line interrupt position.

- * @details Sets the line interrupt position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcSetLineInterruptPosI(LTDCDriver *ltdcp, uint16_t line) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->LIPCR = ((LTDC->LIPCR & ~LTDC_LIPCR_LIPOS) |

-                 ((uint32_t)line & LTDC_LIPCR_LIPOS));

-}

-

-/**

- * @brief   Set line interrupt position.

- * @details Sets the line interrupt position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcSetLineInterruptPos(LTDCDriver *ltdcp, uint16_t line) {

-

-  osalSysLock();

-  ltdcSetLineInterruptPosI(ltdcp, line);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Line interrupt enabled.

- * @details Tells whether the line interrupt is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcIsLineInterruptEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC->IER & LTDC_IER_LIE) != 0;

-}

-

-/**

- * @brief   Line interrupt enabled.

- * @details Tells whether the line interrupt is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcIsLineInterruptEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcIsLineInterruptEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable line interrupt.

- * @details Enables line interrupt.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcEnableLineInterruptI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->IER |= LTDC_IER_LIE;

-}

-

-/**

- * @brief   Enable line interrupt.

- * @details Enables line interrupt.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcEnableLineInterrupt(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcEnableLineInterruptI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable line interrupt.

- * @details Disables line interrupt.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcDisableLineInterruptI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC->IER &= ~LTDC_IER_LIE;

-}

-

-/**

- * @brief   Disable line interrupt.

- * @details Disables line interrupt.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcDisableLineInterrupt(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcDisableLineInterruptI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get current position.

- * @details Gets the current position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] xp       pointer to the destination horizontal coordinate

- * @param[out] yp       pointer to the destination vertical coordinate

- *

- * @iclass

- */

-void ltdcGetCurrentPosI(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp) {

-

-  const uint32_t r = LTDC->CPSR;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  *xp = (uint16_t)((r & LTDC_CPSR_CXPOS) >> 16);

-  *yp = (uint16_t)((r & LTDC_CPSR_CYPOS) >>  0);

-}

-

-/**

- * @brief   Get current position.

- * @details Gets the current position.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] xp       pointer to the destination horizontal coordinate

- * @param[out] yp       pointer to the destination vertical coordinate

- *

- * @api

- */

-void ltdcGetCurrentPos(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp) {

-

-  osalSysLock();

-  ltdcGetCurrentPosI(ltdcp, xp, yp);

-  osalSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    LTDC background layer (layer 1) methods

- * @{

- */

-

-/**

- * @brief   Get background layer enabled flags.

- * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @iclass

- */

-ltdc_flags_t ltdcBgGetEnableFlagsI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return LTDC_Layer1->CR & LTDC_LEF_MASK;

-}

-

-/**

- * @brief   Get background layer enabled flags.

- * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @api

- */

-ltdc_flags_t ltdcBgGetEnableFlags(LTDCDriver *ltdcp) {

-

-  ltdc_flags_t flags;

-  osalSysLock();

-  flags = ltdcBgGetEnableFlagsI(ltdcp);

-  osalSysUnlock();

-  return flags;

-}

-

-/**

- * @brief   Set background layer enabled flags.

- * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @iclass

- */

-void ltdcBgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR = ((LTDC_Layer1->CR & ~LTDC_LEF_MASK) |

-                     ((uint32_t)flags & LTDC_LEF_MASK));

-}

-

-/**

- * @brief   Set background layer enabled flags.

- * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @api

- */

-void ltdcBgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalSysLock();

-  ltdcBgSetEnableFlagsI(ltdcp, flags);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Background layer enabled.

- * @details Tells whether the background layer (layer 1) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcBgIsEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer1->CR & ~LTDC_LxCR_LEN) != 0;

-}

-

-/**

- * @brief   Background layer enabled.

- * @details Tells whether the background layer (layer 1) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcBgIsEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcBgIsEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Background layer enable.

- * @details Enables the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgEnableI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR |= LTDC_LxCR_LEN;

-}

-

-/**

- * @brief   Background layer enable.

- * @details Enables the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgEnable(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgEnableI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Background layer disable.

- * @details Disables the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgDisableI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR &= ~LTDC_LxCR_LEN;

-}

-

-/**

- * @brief   Background layer disable.

- * @details Disables the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgDisable(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgDisableI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Background layer palette enabled.

- * @details Tells whether the background layer (layer 1) palette (color lookup

- *          table) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcBgIsPaletteEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer1->CR & ~LTDC_LxCR_CLUTEN) != 0;

-}

-

-/**

- * @brief   Background layer palette enabled.

- * @details Tells whether the background layer (layer 1) palette (color lookup

- *          table) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcBgIsPaletteEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcBgIsPaletteEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable background layer palette.

- * @details Enables the palette (color lookup table) of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgEnablePaletteI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR |= LTDC_LxCR_CLUTEN;

-}

-

-/**

- * @brief   Enable background layer palette.

- * @details Enables the palette (color lookup table) of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgEnablePalette(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgEnablePaletteI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable background layer palette.

- * @details Disables the palette (color lookup table) of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgDisablePaletteI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR &= ~LTDC_LxCR_CLUTEN;

-}

-

-/**

- * @brief   Disable background layer palette.

- * @details Disables the palette (color lookup table) of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgDisablePalette(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgDisablePaletteI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer palette color.

- * @details Sets the color of a palette (color lookup table) slot to the

- *          background layer (layer 1).

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] slot      palette slot

- * @param[in] c         color, RGB-888

- *

- * @iclass

- */

-void ltdcBgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgAssert(!ltdcBgIsEnabledI(ltdcp), "invalid state");

-  (void)ltdcp;

-

-  LTDC_Layer1->CLUTWR = (((uint32_t)slot << 24) | (c & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set background layer palette color.

- * @details Sets the color of a palette (color lookup table) slot to the

- *          background layer (layer 1).

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] slot      palette slot

- * @param[in] c         color, RGB-888

- *

- * @api

- */

-void ltdcBgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcBgSetPaletteColorI(ltdcp, slot, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer palette.

- * @details Sets the entire palette color (color lookup table) slot.

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] colors    array of palette colors, RGB-888

- * @param[in] length    number of palette colors

- *

- * @iclass

- */

-void ltdcBgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                       uint16_t length) {

-

-  uint16_t i;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck((colors == NULL) == (length == 0));

-  osalDbgAssert(length <= LTDC_MAX_PALETTE_LENGTH, "bounds");

-  osalDbgAssert(!ltdcBgIsEnabledI(ltdcp), "invalid state");

-  (void)ltdcp;

-

-  for (i = 0; i < length; ++i)

-    LTDC_Layer1->CLUTWR = (((uint32_t)i << 24) | (colors[i] & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set background layer palette.

- * @details Sets the entire palette color (color lookup table) slot.

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] colors    array of palette colors, RGB-888

- * @param[in] length    number of palette colors

- *

- * @api

- */

-void ltdcBgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                      uint16_t length) {

-

-  osalSysLock();

-  ltdcBgSetPaletteI(ltdcp, colors, length);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer pixel format.

- * @details Gets the pixel format of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              pixel format

- *

- * @iclass

- */

-ltdc_pixfmt_t ltdcBgGetPixelFormatI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_pixfmt_t)(LTDC_Layer1->PFCR & LTDC_LxPFCR_PF);

-}

-

-/**

- * @brief   Get background layer pixel format.

- * @details Gets the pixel format of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              pixel format

- *

- * @api

- */

-ltdc_pixfmt_t ltdcBgGetPixelFormat(LTDCDriver *ltdcp) {

-

-  ltdc_pixfmt_t fmt;

-  osalSysLock();

-  fmt = ltdcBgGetPixelFormatI(ltdcp);

-  osalSysUnlock();

-  return fmt;

-}

-

-/**

- * @brief   Set background layer pixel format.

- * @details Sets the pixel format of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] fmt       pixel format

- *

- * @iclass

- */

-void ltdcBgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgAssert(fmt >= LTDC_MIN_PIXFMT_ID, "bounds");

-  osalDbgAssert(fmt <= LTDC_MAX_PIXFMT_ID, "bounds");

-  (void)ltdcp;

-

-  LTDC_Layer1->PFCR = ((LTDC_Layer1->PFCR & ~LTDC_LxPFCR_PF) |

-                       ((uint32_t)fmt & LTDC_LxPFCR_PF));

-}

-

-/**

- * @brief   Set background layer pixel format.

- * @details Sets the pixel format of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] fmt       pixel format

- *

- * @api

- */

-void ltdcBgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {

-

-  osalSysLock();

-  ltdcBgSetPixelFormatI(ltdcp, fmt);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Background layer color keying enabled.

- * @details Tells whether the background layer (layer 1) has color keying

- *          enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcBgIsKeyingEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer1->CR & ~LTDC_LxCR_COLKEN) != 0;

-}

-

-/**

- * @brief   Background layer color keying enabled.

- * @details Tells whether the background layer (layer 1) has color keying

- *          enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcBgIsKeyingEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcBgIsKeyingEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable background layer color keying.

- * @details Enables color keying capabilities of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgEnableKeyingI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR |= LTDC_LxCR_COLKEN;

-}

-

-/**

- * @brief   Enable background layer color keying.

- * @details Enables color keying capabilities of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgEnableKeying(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgEnableKeyingI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable background layer color keying.

- * @details Disables color keying capabilities of the background layer (layer

- *          1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgDisableKeyingI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CR &= ~LTDC_LxCR_COLKEN;

-}

-

-/**

- * @brief   Disable background layer color keying.

- * @details Disables color keying capabilities of the background layer (layer

- *          1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgDisableKeying(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgDisableKeyingI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer color key.

- * @details Gets the color key of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              color key, RGB-888

- *

- * @iclass

- */

-ltdc_color_t ltdcBgGetKeyingColorI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_color_t)(LTDC_Layer1->CKCR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get background layer color key.

- * @details Gets the color key of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              color key, RGB-888

- *

- * @api

- */

-ltdc_color_t ltdcBgGetKeyingColor(LTDCDriver *ltdcp) {

-

-  ltdc_color_t color;

-  osalSysLock();

-  color = ltdcBgGetKeyingColorI(ltdcp);

-  osalSysUnlock();

-  return color;

-}

-

-/**

- * @brief   Set background layer color key.

- * @details Sets the color key of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         color key, RGB-888

- *

- * @iclass

- */

-void ltdcBgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CKCR = ((LTDC_Layer1->CKCR & ~0x00FFFFFF) |

-                       ((uint32_t)c & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set background layer color key.

- * @details Sets the color key of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         color key, RGB-888

- *

- * @api

- */

-void ltdcBgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcBgSetKeyingColorI(ltdcp, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer constant alpha.

- * @details Gets the constant alpha component of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @iclass

- */

-uint8_t ltdcBgGetConstantAlphaI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (uint8_t)(LTDC_Layer1->CACR & LTDC_LxCACR_CONSTA);

-}

-

-/**

- * @brief   Get background layer constant alpha.

- * @details Gets the constant alpha component of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @api

- */

-uint8_t ltdcBgGetConstantAlpha(LTDCDriver *ltdcp) {

-

-  uint8_t a;

-  osalSysLock();

-  a = ltdcBgGetConstantAlphaI(ltdcp);

-  osalSysUnlock();

-  return a;

-}

-

-/**

- * @brief   Set background layer constant alpha.

- * @details Sets the constant alpha component of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @iclass

- */

-void ltdcBgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CACR = ((LTDC_Layer1->CACR & ~LTDC_LxCACR_CONSTA) |

-                       ((uint32_t)a & LTDC_LxCACR_CONSTA));

-}

-

-/**

- * @brief   Set background layer constant alpha.

- * @details Sets the constant alpha component of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @api

- */

-void ltdcBgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a) {

-

-  osalSysLock();

-  ltdcBgSetConstantAlphaI(ltdcp, a);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer default color.

- * @details Gets the default color of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              default color, RGB-888

- *

- * @iclass

- */

-ltdc_color_t ltdcBgGetDefaultColorI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_color_t)LTDC_Layer1->DCCR;

-}

-

-/**

- * @brief   Get background layer default color.

- * @details Gets the default color of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              default color, RGB-888

- *

- * @api

- */

-ltdc_color_t ltdcBgGetDefaultColor(LTDCDriver *ltdcp) {

-

-  ltdc_color_t color;

-  osalSysLock();

-  color = ltdcBgGetDefaultColorI(ltdcp);

-  osalSysUnlock();

-  return color;

-}

-

-/**

- * @brief   Set background layer default color.

- * @details Sets the default color of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         default color, RGB-888

- *

- * @iclass

- */

-void ltdcBgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->DCCR = (uint32_t)c;

-}

-

-/**

- * @brief   Set background layer default color.

- * @details Sets the default color of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         default color, RGB-888

- *

- * @api

- */

-void ltdcBgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcBgSetDefaultColorI(ltdcp, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer blending factors.

- * @details Gets the blending factors of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              blending factors

- *

- * @iclass

- */

-ltdc_blendf_t ltdcBgGetBlendingFactorsI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_blendf_t)(LTDC_Layer1->BFCR & LTDC_LxBFCR_BF);

-}

-

-/**

- * @brief   Get background layer blending factors.

- * @details Gets the blending factors of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              blending factors

- *

- * @api

- */

-ltdc_blendf_t ltdcBgGetBlendingFactors(LTDCDriver *ltdcp) {

-

-  ltdc_blendf_t bf;

-  osalSysLock();

-  bf = ltdcBgGetBlendingFactorsI(ltdcp);

-  osalSysUnlock();

-  return bf;

-}

-

-/**

- * @brief   Set background layer blending factors.

- * @details Sets the blending factors of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] factors   blending factors

- *

- * @iclass

- */

-void ltdcBgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->BFCR = ((LTDC_Layer1->BFCR & ~LTDC_LxBFCR_BF) |

-                       ((uint32_t)bf & LTDC_LxBFCR_BF));

-}

-

-/**

- * @brief   Set background layer blending factors.

- * @details Sets the blending factors of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] factors   blending factors

- *

- * @api

- */

-void ltdcBgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf) {

-

-  osalSysLock();

-  ltdcBgSetBlendingFactorsI(ltdcp, bf);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer window specs.

- * @details Gets the window specifications of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] windowp  pointer to the window specifications

- *

- * @iclass

- */

-void ltdcBgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(windowp != NULL);

-  (void)ltdcp;

-

-  windowp->hstart =

-    (uint16_t)((LTDC_Layer1->WHPCR & LTDC_LxWHPCR_WHSTPOS) >>  0);

-  windowp->hstop =

-    (uint16_t)((LTDC_Layer1->WHPCR & LTDC_LxWHPCR_WHSPPOS) >> 16);

-  windowp->vstart =

-    (uint16_t)((LTDC_Layer1->WVPCR & LTDC_LxWVPCR_WVSTPOS) >>  0);

-  windowp->vstop =

-    (uint16_t)((LTDC_Layer1->WVPCR & LTDC_LxWVPCR_WVSPPOS) >> 16);

-}

-

-/**

- * @brief   Get background layer window specs.

- * @details Gets the window specifications of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] windowp  pointer to the window specifications

- *

- * @api

- */

-void ltdcBgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp) {

-

-  osalSysLock();

-  ltdcBgGetWindowI(ltdcp, windowp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer window specs.

- * @details Sets the window specifications of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] windowp   pointer to the window specifications

- *

- * @iclass

- */

-void ltdcBgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {

-

-  uint32_t start, stop;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(windowp != NULL);

-  (void)ltdcp;

-

-  osalDbgAssert(windowp->hstop < ltdcp->config->screen_width, "bounds");

-  osalDbgAssert(windowp->vstop < ltdcp->config->screen_height, "bounds");

-

-  /* Horizontal boundaries.*/

-  start = (uint32_t)windowp->hstart + ltdcp->active_window.hstart;

-  stop  = (uint32_t)windowp->hstop  + ltdcp->active_window.hstart;

-

-  osalDbgAssert(start >= ltdcp->active_window.hstart, "bounds");

-  osalDbgAssert(stop <= ltdcp->active_window.hstop, "bounds");

-

-  LTDC_Layer1->WHPCR = (((start <<  0) & LTDC_LxWHPCR_WHSTPOS) |

-                        ((stop  << 16) & LTDC_LxWHPCR_WHSPPOS));

-

-  /* Vertical boundaries.*/

-  start = (uint32_t)windowp->vstart + ltdcp->active_window.vstart;

-  stop  = (uint32_t)windowp->vstop  + ltdcp->active_window.vstart;

-

-  osalDbgAssert(start >= ltdcp->active_window.vstart, "bounds");

-  osalDbgAssert(stop <= ltdcp->active_window.vstop, "bounds");

-

-  LTDC_Layer1->WVPCR = (((start <<  0) & LTDC_LxWVPCR_WVSTPOS) |

-                        ((stop  << 16) & LTDC_LxWVPCR_WVSPPOS));

-}

-

-/**

- * @brief   Set background layer window specs.

- * @details Sets the window specifications of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] windowp   pointer to the window specifications

- *

- * @api

- */

-void ltdcBgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {

-

-  osalSysLock();

-  ltdcBgSetWindowI(ltdcp, windowp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer window as invalid.

- * @details Sets the window specifications of the background layer (layer 1)

- *          so that the window is pixel sized at the screen origin.

- * @note    Useful before reconfiguring the frame specifications of the layer,

- *          to avoid errors.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcBgSetInvalidWindowI(LTDCDriver *ltdcp) {

-

-  ltdcBgSetWindowI(ltdcp, &ltdc_invalid_window);

-}

-

-/**

- * @brief   Set background layer window as invalid.

- * @details Sets the window specifications of the background layer (layer 1)

- *          so that the window is pixel sized at the screen origin.

- * @note    Useful before reconfiguring the frame specifications of the layer,

- *          to avoid errors.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcBgSetInvalidWindow(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcBgSetWindowI(ltdcp, &ltdc_invalid_window);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer frame buffer specs.

- * @details Gets the frame buffer specifications of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] framep   pointer to the frame buffer specifications

- *

- * @iclass

- */

-void ltdcBgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(framep != NULL);

-

-  framep->bufferp = (void *)(LTDC_Layer1->CFBAR & LTDC_LxCFBAR_CFBADD);

-  framep->pitch   = (size_t)((LTDC_Layer1->CFBLR & LTDC_LxCFBLR_CFBP) >> 16);

-  framep->width   = (uint16_t)(((LTDC_Layer1->CFBLR & LTDC_LxCFBLR_CFBLL) - 3) /

-                    ltdcBytesPerPixel(ltdcBgGetPixelFormatI(ltdcp)));

-  framep->height  = (uint16_t)(LTDC_Layer1->CFBLNR & LTDC_LxCFBLNR_CFBLNBR);

-}

-

-/**

- * @brief   Get background layer frame buffer specs.

- * @details Gets the frame buffer specifications of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] framep   pointer to the frame buffer specifications

- *

- * @api

- */

-void ltdcBgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep) {

-

-  osalSysLock();

-  ltdcBgGetFrameI(ltdcp, framep);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer frame buffer specs.

- * @details Sets the frame buffer specifications of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] framep    pointer to the frame buffer specifications

- *

- * @iclass

- */

-void ltdcBgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {

-

-  size_t linesize;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(framep != NULL);

-

-  ltdcBgSetPixelFormatI(ltdcp, framep->fmt);

-

-  linesize = ltdcBytesPerPixel(framep->fmt) * framep->width;

-

-  osalDbgAssert(framep->width  <= ltdcp->config->screen_width, "bounds");

-  osalDbgAssert(framep->height <= ltdcp->config->screen_height, "bounds");

-  osalDbgAssert(linesize >= LTDC_MIN_FRAME_WIDTH_BYTES, "bounds");

-  osalDbgAssert(linesize <= LTDC_MAX_FRAME_WIDTH_BYTES, "bounds");

-  osalDbgAssert(framep->height >= LTDC_MIN_FRAME_HEIGHT_LINES, "bounds");

-  osalDbgAssert(framep->height <= LTDC_MAX_FRAME_HEIGHT_LINES, "bounds");

-  osalDbgAssert(framep->pitch  >= linesize, "bounds");

-

-  LTDC_Layer1->CFBAR = (uint32_t)framep->bufferp & LTDC_LxCFBAR_CFBADD;

-  LTDC_Layer1->CFBLR = ((((uint32_t)framep->pitch << 16) & LTDC_LxCFBLR_CFBP) |

-                        ((linesize + 3) & LTDC_LxCFBLR_CFBLL));

-  LTDC_Layer1->CFBLNR = (uint32_t)framep->height & LTDC_LxCFBLNR_CFBLNBR;

-}

-

-/**

- * @brief   Set background layer frame buffer specs.

- * @details Sets the frame buffer specifications of the background layer

- *          (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] framep    pointer to the frame buffer specifications

- *

- * @api

- */

-void ltdcBgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {

-

-  osalSysLock();

-  ltdcBgSetFrameI(ltdcp, framep);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer frame buffer address.

- * @details Gets the frame buffer address of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              frame buffer address

- *

- * @iclass

- */

-void *ltdcBgGetFrameAddressI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (void *)LTDC_Layer1->CFBAR;

-}

-

-/**

- * @brief   Get background layer frame buffer address.

- * @details Gets the frame buffer address of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              frame buffer address

- *

- * @api

- */

-void *ltdcBgGetFrameAddress(LTDCDriver *ltdcp) {

-

-  void *bufferp;

-  osalSysLock();

-  bufferp = ltdcBgGetFrameAddressI(ltdcp);

-  osalSysUnlock();

-  return bufferp;

-}

-

-/**

- * @brief   Set background layer frame buffer address.

- * @details Sets the frame buffer address of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] bufferp   frame buffer address

- *

- * @iclass

- */

-void ltdcBgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer1->CFBAR = (uint32_t)bufferp;

-}

-

-/**

- * @brief   Set background layer frame buffer address.

- * @details Sets the frame buffer address of the background layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] bufferp   frame buffer address

- *

- * @api

- */

-void ltdcBgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp) {

-

-  osalSysLock();

-  ltdcBgSetFrameAddressI(ltdcp, bufferp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get background layer specifications.

- * @details Gets the background layer (layer 1) specifications at once.

- * @note    If palette specifications cannot be retrieved, they are set to

- *          @p NULL. This is not an error.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @iclass

- */

-void ltdcBgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(cfgp != NULL);

-

-  ltdcBgGetFrameI(ltdcp, (ltdc_frame_t *)cfgp->frame);

-  ltdcBgGetWindowI(ltdcp, (ltdc_window_t *)cfgp->window);

-  cfgp->def_color = ltdcBgGetDefaultColorI(ltdcp);

-  cfgp->key_color = ltdcBgGetKeyingColorI(ltdcp);

-  cfgp->const_alpha = ltdcBgGetConstantAlphaI(ltdcp);

-  cfgp->blending = ltdcBgGetBlendingFactorsI(ltdcp);

-

-  cfgp->pal_colors = NULL;

-  cfgp->pal_length = 0;

-

-  cfgp->flags = ltdcBgGetEnableFlagsI(ltdcp);

-}

-

-/**

- * @brief   Get background layer specifications.

- * @details Gets the background layer (layer 1) specifications at once.

- * @note    If palette specifications cannot be retrieved, they are set to

- *          @p NULL. This is not an error.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @api

- */

-void ltdcBgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {

-

-  osalSysLock();

-  ltdcBgGetLayerI(ltdcp, cfgp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set background layer specifications.

- * @details Sets the background layer (layer 1) specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @iclass

- */

-void ltdcBgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  if (cfgp == NULL)

-    cfgp = &ltdc_default_laycfg;

-

-  osalDbgCheck((cfgp->pal_colors == NULL) == (cfgp->pal_length == 0));

-

-  ltdcBgSetFrameI(ltdcp, cfgp->frame);

-  ltdcBgSetWindowI(ltdcp, cfgp->window);

-  ltdcBgSetDefaultColorI(ltdcp, cfgp->def_color);

-  ltdcBgSetKeyingColorI(ltdcp, cfgp->key_color);

-  ltdcBgSetConstantAlphaI(ltdcp, cfgp->const_alpha);

-  ltdcBgSetBlendingFactorsI(ltdcp, cfgp->blending);

-

-  if (cfgp->pal_length > 0)

-    ltdcBgSetPaletteI(ltdcp, cfgp->pal_colors, cfgp->pal_length);

-

-  ltdcBgSetEnableFlagsI(ltdcp, cfgp->flags);

-}

-

-/**

- * @brief   Set background layer specifications.

- * @details Sets the background layer (layer 1) specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @api

- */

-void ltdcBgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {

-

-  osalSysLock();

-  ltdcBgSetConfigI(ltdcp, cfgp);

-  osalSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    LTDC foreground layer (layer 2) methods

- * @{

- */

-

-/**

- * @brief   Get foreground layer enabled flags.

- * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @iclass

- */

-ltdc_flags_t ltdcFgGetEnableFlagsI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return LTDC_Layer2->CR & LTDC_LEF_MASK;

-}

-

-/**

- * @brief   Get foreground layer enabled flags.

- * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled flags

- *

- * @api

- */

-ltdc_flags_t ltdcFgGetEnableFlags(LTDCDriver *ltdcp) {

-

-  ltdc_flags_t flags;

-  osalSysLock();

-  flags = ltdcFgGetEnableFlagsI(ltdcp);

-  osalSysUnlock();

-  return flags;

-}

-

-/**

- * @brief   Set foreground layer enabled flags.

- * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @iclass

- */

-void ltdcFgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR = ((LTDC_Layer2->CR & ~LTDC_LEF_MASK) |

-                     ((uint32_t)flags & LTDC_LEF_MASK));

-}

-

-/**

- * @brief   Set foreground layer enabled flags.

- * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.

- *          Targeting the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] flags     enabled flags

- *

- * @api

- */

-void ltdcFgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {

-

-  osalSysLock();

-  ltdcFgSetEnableFlagsI(ltdcp, flags);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Foreground layer enabled.

- * @details Tells whether the foreground layer (layer 2) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcFgIsEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer2->CR & ~LTDC_LxCR_LEN) != 0;

-}

-

-/**

- * @brief   Foreground layer enabled.

- * @details Tells whether the foreground layer (layer 2) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcFgIsEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcFgIsEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Foreground layer enable.

- * @details Enables the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgEnableI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR |= LTDC_LxCR_LEN;

-}

-

-/**

- * @brief   Foreground layer enable.

- * @details Enables the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgEnable(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgEnableI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Foreground layer disable.

- * @details Disables the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgDisableI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR &= ~LTDC_LxCR_LEN;

-}

-

-/**

- * @brief   Foreground layer disable.

- * @details Disables the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgDisable(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgDisableI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Foreground layer palette enabled.

- * @details Tells whether the foreground layer (layer 2) palette (color lookup

- *          table) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcFgIsPaletteEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer2->CR & ~LTDC_LxCR_CLUTEN) != 0;

-}

-

-/**

- * @brief   Foreground layer palette enabled.

- * @details Tells whether the foreground layer (layer 2) palette (color lookup

- *          table) is enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcFgIsPaletteEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcFgIsPaletteEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable foreground layer palette.

- * @details Enables the palette (color lookup table) of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgEnablePaletteI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR |= LTDC_LxCR_CLUTEN;

-}

-

-/**

- * @brief   Enable foreground layer palette.

- * @details Enables the palette (color lookup table) of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgEnablePalette(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgEnablePaletteI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable foreground layer palette.

- * @details Disables the palette (color lookup table) of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgDisablePaletteI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR &= ~LTDC_LxCR_CLUTEN;

-}

-

-/**

- * @brief   Disable foreground layer palette.

- * @details Disables the palette (color lookup table) of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgDisablePalette(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgDisablePaletteI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer palette color.

- * @details Sets the color of a palette (color lookup table) slot to the

- *          foreground layer (layer 2).

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] slot      palette slot

- * @param[in] c         color, RGB-888

- *

- * @iclass

- */

-void ltdcFgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgAssert(!ltdcFgIsEnabledI(ltdcp), "invalid state");

-  (void)ltdcp;

-

-  LTDC_Layer2->CLUTWR = (((uint32_t)slot << 24) | (c & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set foreground layer palette color.

- * @details Sets the color of a palette (color lookup table) slot to the

- *          foreground layer (layer 2).

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] slot      palette slot

- * @param[in] c         color, RGB-888

- *

- * @api

- */

-void ltdcFgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcFgSetPaletteColorI(ltdcp, slot, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer palette.

- * @details Sets the entire palette color (color lookup table) slot.

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] colors    array of palette colors, RGB-888

- * @param[in] length    number of palette colors

- *

- * @iclass

- */

-void ltdcFgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                       uint16_t length) {

-

-  uint16_t i;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck((colors == NULL) == (length == 0));

-  osalDbgAssert(length <= LTDC_MAX_PALETTE_LENGTH, "bounds");

-  osalDbgAssert(!ltdcFgIsEnabledI(ltdcp), "invalid state");

-  (void)ltdcp;

-

-  for (i = 0; i < length; ++i)

-    LTDC_Layer2->CLUTWR = (((uint32_t)i << 24) | (colors[i] & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set foreground layer palette.

- * @details Sets the entire palette color (color lookup table) slot.

- * @pre     The layer must be disabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] colors    array of palette colors, RGB-888

- * @param[in] length    number of palette colors

- *

- * @api

- */

-void ltdcFgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                      uint16_t length) {

-

-  osalSysLock();

-  ltdcFgSetPaletteI(ltdcp, colors, length);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer pixel format.

- * @details Gets the pixel format of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              pixel format

- *

- * @iclass

- */

-ltdc_pixfmt_t ltdcFgGetPixelFormatI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_pixfmt_t)(LTDC_Layer2->PFCR & LTDC_LxPFCR_PF);

-}

-

-/**

- * @brief   Get foreground layer pixel format.

- * @details Gets the pixel format of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              pixel format

- *

- * @api

- */

-ltdc_pixfmt_t ltdcFgGetPixelFormat(LTDCDriver *ltdcp) {

-

-  ltdc_pixfmt_t fmt;

-  osalSysLock();

-  fmt = ltdcFgGetPixelFormatI(ltdcp);

-  osalSysUnlock();

-  return fmt;

-}

-

-/**

- * @brief   Set foreground layer pixel format.

- * @details Sets the pixel format of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] fmt       pixel format

- *

- * @iclass

- */

-void ltdcFgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgAssert(fmt >= LTDC_MIN_PIXFMT_ID, "bounds");

-  osalDbgAssert(fmt <= LTDC_MAX_PIXFMT_ID, "bounds");

-  (void)ltdcp;

-

-  LTDC_Layer2->PFCR = ((LTDC_Layer2->PFCR & ~LTDC_LxPFCR_PF) |

-                       ((uint32_t)fmt & LTDC_LxPFCR_PF));

-}

-

-/**

- * @brief   Set foreground layer pixel format.

- * @details Sets the pixel format of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] fmt       pixel format

- *

- * @api

- */

-void ltdcFgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {

-

-  osalSysLock();

-  ltdcFgSetPixelFormatI(ltdcp, fmt);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Foreground layer color keying enabled.

- * @details Tells whether the foreground layer (layer 2) has color keying

- *          enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @iclass

- */

-bool ltdcFgIsKeyingEnabledI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (LTDC_Layer2->CR & ~LTDC_LxCR_COLKEN) != 0;

-}

-

-/**

- * @brief   Foreground layer color keying enabled.

- * @details Tells whether the foreground layer (layer 2) has color keying

- *          enabled.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              enabled

- *

- * @api

- */

-bool ltdcFgIsKeyingEnabled(LTDCDriver *ltdcp) {

-

-  bool enabled;

-  osalSysLock();

-  enabled = ltdcFgIsKeyingEnabledI(ltdcp);

-  osalSysUnlock();

-  return enabled;

-}

-

-/**

- * @brief   Enable foreground layer color keying.

- * @details Enables color keying capabilities of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgEnableKeyingI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR |= LTDC_LxCR_COLKEN;

-}

-

-/**

- * @brief   Enable foreground layer color keying.

- * @details Enables color keying capabilities of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgEnableKeying(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgEnableKeyingI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Disable foreground layer color keying.

- * @details Disables color keying capabilities of the foreground layer (layer

- *          2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgDisableKeyingI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CR &= ~LTDC_LxCR_COLKEN;

-}

-

-/**

- * @brief   Disable foreground layer color keying.

- * @details Disables color keying capabilities of the foreground layer (layer

- *          2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgDisableKeying(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgDisableKeyingI(ltdcp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer color key.

- * @details Gets the color key of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              color key, RGB-888

- *

- * @iclass

- */

-ltdc_color_t ltdcFgGetKeyingColorI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_color_t)(LTDC_Layer2->CKCR & 0x00FFFFFF);

-}

-

-/**

- * @brief   Get foreground layer color key.

- * @details Gets the color key of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              color key, RGB-888

- *

- * @api

- */

-ltdc_color_t ltdcFgGetKeyingColor(LTDCDriver *ltdcp) {

-

-  ltdc_color_t color;

-  osalSysLock();

-  color = ltdcFgGetKeyingColorI(ltdcp);

-  osalSysUnlock();

-  return color;

-}

-

-/**

- * @brief   Set foreground layer color key.

- * @details Sets the color key of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         color key, RGB-888

- *

- * @iclass

- */

-void ltdcFgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CKCR = ((LTDC_Layer2->CKCR & ~0x00FFFFFF) |

-                       ((uint32_t)c & 0x00FFFFFF));

-}

-

-/**

- * @brief   Set foreground layer color key.

- * @details Sets the color key of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         color key, RGB-888

- *

- * @api

- */

-void ltdcFgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcFgSetKeyingColorI(ltdcp, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer constant alpha.

- * @details Gets the constant alpha component of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @iclass

- */

-uint8_t ltdcFgGetConstantAlphaI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (uint8_t)(LTDC_Layer2->CACR & LTDC_LxCACR_CONSTA);

-}

-

-/**

- * @brief   Get foreground layer constant alpha.

- * @details Gets the constant alpha component of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              constant alpha component, A-8

- *

- * @api

- */

-uint8_t ltdcFgGetConstantAlpha(LTDCDriver *ltdcp) {

-

-  uint8_t a;

-  osalSysLock();

-  a = ltdcFgGetConstantAlphaI(ltdcp);

-  osalSysUnlock();

-  return a;

-}

-

-/**

- * @brief   Set foreground layer constant alpha.

- * @details Sets the constant alpha component of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @iclass

- */

-void ltdcFgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CACR = ((LTDC_Layer2->CACR & ~LTDC_LxCACR_CONSTA) |

-                       ((uint32_t)a & LTDC_LxCACR_CONSTA));

-}

-

-/**

- * @brief   Set foreground layer constant alpha.

- * @details Sets the constant alpha component of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] a         constant alpha component, A-8

- *

- * @api

- */

-void ltdcFgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a) {

-

-  osalSysLock();

-  ltdcFgSetConstantAlphaI(ltdcp, a);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer default color.

- * @details Gets the default color of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              default color, RGB-888

- *

- * @iclass

- */

-ltdc_color_t ltdcFgGetDefaultColorI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_color_t)LTDC_Layer2->DCCR;

-}

-

-/**

- * @brief   Get foreground layer default color.

- * @details Gets the default color of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              default color, RGB-888

- *

- * @api

- */

-ltdc_color_t ltdcFgGetDefaultColor(LTDCDriver *ltdcp) {

-

-  ltdc_color_t color;

-  osalSysLock();

-  color = ltdcFgGetDefaultColorI(ltdcp);

-  osalSysUnlock();

-  return color;

-}

-

-/**

- * @brief   Set foreground layer default color.

- * @details Sets the default color of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         default color, RGB-888

- *

- * @iclass

- */

-void ltdcFgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->DCCR = (uint32_t)c;

-}

-

-/**

- * @brief   Set foreground layer default color.

- * @details Sets the default color of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] c         default color, RGB-888

- *

- * @api

- */

-void ltdcFgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c) {

-

-  osalSysLock();

-  ltdcFgSetDefaultColorI(ltdcp, c);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer blending factors.

- * @details Gets the blending factors of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              blending factors

- *

- * @iclass

- */

-ltdc_blendf_t ltdcFgGetBlendingFactorsI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (ltdc_blendf_t)(LTDC_Layer2->BFCR & LTDC_LxBFCR_BF);

-}

-

-/**

- * @brief   Get foreground layer blending factors.

- * @details Gets the blending factors of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              blending factors

- *

- * @api

- */

-ltdc_blendf_t ltdcFgGetBlendingFactors(LTDCDriver *ltdcp) {

-

-  ltdc_blendf_t bf;

-  osalSysLock();

-  bf = ltdcFgGetBlendingFactorsI(ltdcp);

-  osalSysUnlock();

-  return bf;

-}

-

-/**

- * @brief   Set foreground layer blending factors.

- * @details Sets the blending factors of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] factors   blending factors

- *

- * @iclass

- */

-void ltdcFgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->BFCR = ((LTDC_Layer2->BFCR & ~LTDC_LxBFCR_BF) |

-                       ((uint32_t)bf & LTDC_LxBFCR_BF));

-}

-

-/**

- * @brief   Set foreground layer blending factors.

- * @details Sets the blending factors of the foreground layer (layer 1).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] factors   blending factors

- *

- * @api

- */

-void ltdcFgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf) {

-

-  osalSysLock();

-  ltdcFgSetBlendingFactorsI(ltdcp, bf);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer window specs.

- * @details Gets the window specifications of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] windowp  pointer to the window specifications

- *

- * @iclass

- */

-void ltdcFgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(windowp != NULL);

-  (void)ltdcp;

-

-  windowp->hstart =

-    (uint16_t)((LTDC_Layer2->WHPCR & LTDC_LxWHPCR_WHSTPOS) >>  0);

-  windowp->hstop =

-    (uint16_t)((LTDC_Layer2->WHPCR & LTDC_LxWHPCR_WHSPPOS) >> 16);

-  windowp->vstart =

-    (uint16_t)((LTDC_Layer2->WVPCR & LTDC_LxWVPCR_WVSTPOS) >>  0);

-  windowp->vstop =

-    (uint16_t)((LTDC_Layer2->WVPCR & LTDC_LxWVPCR_WVSPPOS) >> 16);

-}

-

-/**

- * @brief   Get foreground layer window specs.

- * @details Gets the window specifications of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] windowp  pointer to the window specifications

- *

- * @api

- */

-void ltdcFgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp) {

-

-  osalSysLock();

-  ltdcFgGetWindowI(ltdcp, windowp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer window specs.

- * @details Sets the window specifications of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] windowp   pointer to the window specifications

- *

- * @iclass

- */

-void ltdcFgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {

-

-  uint32_t start, stop;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(windowp != NULL);

-  (void)ltdcp;

-

-  osalDbgAssert(windowp->hstop < ltdcp->config->screen_width, "bounds");

-  osalDbgAssert(windowp->vstop < ltdcp->config->screen_height, "bounds");

-

-  /* Horizontal boundaries.*/

-  start = (uint32_t)windowp->hstart + ltdcp->active_window.hstart;

-  stop  = (uint32_t)windowp->hstop  + ltdcp->active_window.hstart;

-

-  osalDbgAssert(start >= ltdcp->active_window.hstart, "bounds");

-  osalDbgAssert(stop <= ltdcp->active_window.hstop, "bounds");

-

-  LTDC_Layer2->WHPCR = (((start <<  0) & LTDC_LxWHPCR_WHSTPOS) |

-                        ((stop  << 16) & LTDC_LxWHPCR_WHSPPOS));

-

-  /* Vertical boundaries.*/

-  start = (uint32_t)windowp->vstart + ltdcp->active_window.vstart;

-  stop  = (uint32_t)windowp->vstop  + ltdcp->active_window.vstart;

-

-  osalDbgAssert(start >= ltdcp->active_window.vstart, "bounds");

-  osalDbgAssert(stop <= ltdcp->active_window.vstop, "bounds");

-

-  LTDC_Layer2->WVPCR = (((start <<  0) & LTDC_LxWVPCR_WVSTPOS) |

-                        ((stop  << 16) & LTDC_LxWVPCR_WVSPPOS));

-}

-

-/**

- * @brief   Set foreground layer window specs.

- * @details Sets the window specifications of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] windowp   pointer to the window specifications

- *

- * @api

- */

-void ltdcFgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {

-

-  osalSysLock();

-  ltdcFgSetWindowI(ltdcp, windowp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer window as invalid.

- * @details Sets the window specifications of the foreground layer (layer 2)

- *          so that the window is pixel sized at the screen origin.

- * @note    Useful before reconfiguring the frame specifications of the layer,

- *          to avoid errors.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @iclass

- */

-void ltdcFgSetInvalidWindowI(LTDCDriver *ltdcp) {

-

-  ltdcFgSetWindowI(ltdcp, &ltdc_invalid_window);

-}

-

-/**

- * @brief   Set foreground layer window as invalid.

- * @details Sets the window specifications of the foreground layer (layer 2)

- *          so that the window is pixel sized at the screen origin.

- * @note    Useful before reconfiguring the frame specifications of the layer,

- *          to avoid errors.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @api

- */

-void ltdcFgSetInvalidWindow(LTDCDriver *ltdcp) {

-

-  osalSysLock();

-  ltdcFgSetWindowI(ltdcp, &ltdc_invalid_window);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer frame buffer specs.

- * @details Gets the frame buffer specifications of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] framep   pointer to the frame buffer specifications

- *

- * @iclass

- */

-void ltdcFgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(framep != NULL);

-

-  framep->bufferp = (void *)(LTDC_Layer2->CFBAR & LTDC_LxCFBAR_CFBADD);

-  framep->pitch   = (size_t)((LTDC_Layer2->CFBLR & LTDC_LxCFBLR_CFBP) >> 16);

-  framep->width   = (uint16_t)(((LTDC_Layer2->CFBLR & LTDC_LxCFBLR_CFBLL) - 3) /

-                    ltdcBytesPerPixel(ltdcFgGetPixelFormatI(ltdcp)));

-  framep->height  = (uint16_t)(LTDC_Layer2->CFBLNR & LTDC_LxCFBLNR_CFBLNBR);

-}

-

-/**

- * @brief   Get foreground layer frame buffer specs.

- * @details Gets the frame buffer specifications of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] framep   pointer to the frame buffer specifications

- *

- * @api

- */

-void ltdcFgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep) {

-

-  osalSysLock();

-  ltdcFgGetFrameI(ltdcp, framep);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer frame buffer specs.

- * @details Sets the frame buffer specifications of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] framep    pointer to the frame buffer specifications

- *

- * @iclass

- */

-void ltdcFgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {

-

-  size_t linesize;

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(framep != NULL);

-

-  ltdcFgSetPixelFormatI(ltdcp, framep->fmt);

-

-  linesize = ltdcBytesPerPixel(framep->fmt) * framep->width;

-

-  osalDbgAssert(framep->width  <= ltdcp->config->screen_width, "bounds");

-  osalDbgAssert(framep->height <= ltdcp->config->screen_height, "bounds");

-  osalDbgAssert(linesize >= LTDC_MIN_FRAME_WIDTH_BYTES, "bounds");

-  osalDbgAssert(linesize <= LTDC_MAX_FRAME_WIDTH_BYTES, "bounds");

-  osalDbgAssert(framep->height >= LTDC_MIN_FRAME_HEIGHT_LINES, "bounds");

-  osalDbgAssert(framep->height <= LTDC_MAX_FRAME_HEIGHT_LINES, "bounds");

-  osalDbgAssert(framep->pitch  >= linesize, "bounds");

-

-  LTDC_Layer2->CFBAR = (uint32_t)framep->bufferp & LTDC_LxCFBAR_CFBADD;

-  LTDC_Layer2->CFBLR = ((((uint32_t)framep->pitch << 16) & LTDC_LxCFBLR_CFBP) |

-                        ((linesize + 3) & LTDC_LxCFBLR_CFBLL));

-  LTDC_Layer2->CFBLNR = (uint32_t)framep->height & LTDC_LxCFBLNR_CFBLNBR;

-}

-

-/**

- * @brief   Set foreground layer frame buffer specs.

- * @details Sets the frame buffer specifications of the foreground layer

- *          (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] framep    pointer to the frame buffer specifications

- *

- * @api

- */

-void ltdcFgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {

-

-  osalSysLock();

-  ltdcFgSetFrameI(ltdcp, framep);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer frame buffer address.

- * @details Gets the frame buffer address of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              frame buffer address

- *

- * @iclass

- */

-void *ltdcFgGetFrameAddressI(LTDCDriver *ltdcp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  return (void *)LTDC_Layer2->CFBAR;

-}

-

-/**

- * @brief   Get foreground layer frame buffer address.

- * @details Gets the frame buffer address of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- *

- * @return              frame buffer address

- *

- * @api

- */

-void *ltdcFgGetFrameAddress(LTDCDriver *ltdcp) {

-

-  void *bufferp;

-  osalSysLock();

-  bufferp = ltdcFgGetFrameAddressI(ltdcp);

-  osalSysUnlock();

-  return bufferp;

-}

-

-/**

- * @brief   Set foreground layer frame buffer address.

- * @details Sets the frame buffer address of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] bufferp   frame buffer address

- *

- * @iclass

- */

-void ltdcFgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  (void)ltdcp;

-

-  LTDC_Layer2->CFBAR = (uint32_t)bufferp;

-}

-

-/**

- * @brief   Set foreground layer frame buffer address.

- * @details Sets the frame buffer address of the foreground layer (layer 2).

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] bufferp   frame buffer address

- *

- * @api

- */

-void ltdcFgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp) {

-

-  osalSysLock();

-  ltdcFgSetFrameAddressI(ltdcp, bufferp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Get foreground layer specifications.

- * @details Gets the foreground layer (layer 2) specifications at once.

- * @note    If palette specifications cannot be retrieved, they are set to

- *          @p NULL. This is not an error.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @iclass

- */

-void ltdcFgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-  osalDbgCheck(cfgp != NULL);

-

-  ltdcFgGetFrameI(ltdcp, (ltdc_frame_t *)cfgp->frame);

-  ltdcFgGetWindowI(ltdcp, (ltdc_window_t *)cfgp->window);

-  cfgp->def_color = ltdcFgGetDefaultColorI(ltdcp);

-  cfgp->key_color = ltdcFgGetKeyingColorI(ltdcp);

-  cfgp->const_alpha = ltdcFgGetConstantAlphaI(ltdcp);

-  cfgp->blending = ltdcFgGetBlendingFactorsI(ltdcp);

-

-  cfgp->pal_colors = NULL;

-  cfgp->pal_length = 0;

-

-  cfgp->flags = ltdcFgGetEnableFlagsI(ltdcp);

-}

-

-/**

- * @brief   Get foreground layer specifications.

- * @details Gets the foreground layer (layer 2) specifications at once.

- * @note    If palette specifications cannot be retrieved, they are set to

- *          @p NULL. This is not an error.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[out] cfgp     pointer to the layer specifications

- *

- * @api

- */

-void ltdcFgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {

-

-  osalSysLock();

-  ltdcFgGetLayerI(ltdcp, cfgp);

-  osalSysUnlock();

-}

-

-/**

- * @brief   Set foreground layer specifications.

- * @details Sets the foreground layer (layer 2) specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @iclass

- */

-void ltdcFgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {

-

-  osalDbgCheckClassI();

-  osalDbgCheck(ltdcp == &LTDCD1);

-

-  if (cfgp == NULL)

-    cfgp = &ltdc_default_laycfg;

-

-  osalDbgCheck((cfgp->pal_colors == NULL) == (cfgp->pal_length == 0));

-

-  ltdcFgSetFrameI(ltdcp, cfgp->frame);

-  ltdcFgSetWindowI(ltdcp, cfgp->window);

-  ltdcFgSetDefaultColorI(ltdcp, cfgp->def_color);

-  ltdcFgSetKeyingColorI(ltdcp, cfgp->key_color);

-  ltdcFgSetConstantAlphaI(ltdcp, cfgp->const_alpha);

-  ltdcFgSetBlendingFactorsI(ltdcp, cfgp->blending);

-

-  if (cfgp->pal_length > 0)

-    ltdcFgSetPaletteI(ltdcp, cfgp->pal_colors, cfgp->pal_length);

-

-  ltdcFgSetEnableFlagsI(ltdcp, cfgp->flags);

-}

-

-/**

- * @brief   Set foreground layer specifications.

- * @details Sets the foreground layer (layer 2) specifications at once.

- * @note    If the palette is unspecified, the layer palette is unmodified.

- *

- * @param[in] ltdcp     pointer to the @p LTDCDriver object

- * @param[in] cfgp      pointer to the layer specifications

- *

- * @api

- */

-void ltdcFgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {

-

-  osalSysLock();

-  ltdcFgSetConfigI(ltdcp, cfgp);

-  osalSysUnlock();

-}

-

-/** @} */

-

-/**

- * @name    LTDC helper functions

- */

-

-/**

- * @brief   Compute bits per pixel.

- * @details Computes the bits per pixel for the specified pixel format.

- *

- * @param[in] fmt       pixel format

- *

- * @retuen              bits per pixel

- *

- * @api

- */

-size_t ltdcBitsPerPixel(ltdc_pixfmt_t fmt) {

-

-  osalDbgAssert(fmt < LTDC_MAX_PIXFMT_ID, "invalid format");

-

-  return (size_t)ltdc_bpp[(unsigned)fmt];

-}

-

-#if (TRUE == LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)

-

-/**

- * @brief   Convert from ARGB-8888.

- * @details Converts an ARGB-8888 color to the specified pixel format.

- *

- * @param[in] c         color, ARGB-8888

- * @param[in] fmt       target pixel format

- *

- * @return              raw color value for the target pixel format, left

- *                      padded with zeros.

- *

- * @api

- */

-ltdc_color_t ltdcFromARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt) {

-

-  switch (fmt) {

-  case LTDC_FMT_ARGB8888: {

-    return c;

-  }

-  case LTDC_FMT_RGB888: {

-    return (c & 0x00FFFFFF);

-  }

-  case LTDC_FMT_RGB565: {

-    return (((c & 0x000000F8) >> ( 8 -  5)) |

-            ((c & 0x0000FC00) >> (16 - 11)) |

-            ((c & 0x00F80000) >> (24 - 16)));

-  }

-  case LTDC_FMT_ARGB1555: {

-    return (((c & 0x000000F8) >> ( 8 -  5)) |

-            ((c & 0x0000F800) >> (16 - 10)) |

-            ((c & 0x00F80000) >> (24 - 15)) |

-            ((c & 0x80000000) >> (32 - 16)));

-  }

-  case LTDC_FMT_ARGB4444: {

-    return (((c & 0x000000F0) >> ( 8 -  4)) |

-            ((c & 0x0000F000) >> (16 -  8)) |

-            ((c & 0x00F00000) >> (24 - 12)) |

-            ((c & 0xF0000000) >> (32 - 16)));

-  }

-  case LTDC_FMT_L8: {

-    return (c & 0x000000FF);

-  }

-  case LTDC_FMT_AL44: {

-    return (((c & 0x000000F0) >> ( 8 - 4)) |

-            ((c & 0xF0000000) >> (32 - 8)));

-  }

-  case LTDC_FMT_AL88: {

-    return (((c & 0x000000FF) >> ( 8 -  8)) |

-            ((c & 0xFF000000) >> (32 - 16)));

-  }

-  default:

-    osalDbgAssert(false, "invalid format");

-    return 0;

-  }

-}

-

-/**

- * @brief   Convert to ARGB-8888.

- * @details Converts color of the specified pixel format to an ARGB-8888 color.

- *

- * @param[in] c         color for the source pixel format, left padded with

- *                      zeros.

- * @param[in] fmt       source pixel format

- *

- * @return              color in ARGB-8888 format

- *

- * @api

- */

-ltdc_color_t ltdcToARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt) {

-

-  switch (fmt) {

-  case LTDC_FMT_ARGB8888: {

-    return c;

-  }

-  case LTDC_FMT_RGB888: {

-    return ((c & 0x00FFFFFF) | 0xFF000000);

-  }

-  case LTDC_FMT_RGB565: {

-    register ltdc_color_t output = 0xFF000000;

-    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);

-    if (c & 0x07E0) output |= (((c & 0x07E0) << (16 - 11)) | 0x00000300);

-    if (c & 0xF800) output |= (((c & 0xF800) << (24 - 16)) | 0x00070000);

-    return output;

-  }

-  case LTDC_FMT_ARGB1555: {

-    register ltdc_color_t output = 0x00000000;

-    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);

-    if (c & 0x03E0) output |= (((c & 0x03E0) << (16 - 10)) | 0x00000700);

-    if (c & 0x7C00) output |= (((c & 0x7C00) << (24 - 15)) | 0x00070000);

-    if (c & 0x8000) output |= 0xFF000000;

-    return output;

-  }

-  case LTDC_FMT_ARGB4444: {

-    register ltdc_color_t output = 0x00000000;

-    if (c & 0x000F) output |= (((c & 0x000F) << ( 8 -  4)) | 0x0000000F);

-    if (c & 0x00F0) output |= (((c & 0x00F0) << (16 -  8)) | 0x00000F00);

-    if (c & 0x0F00) output |= (((c & 0x0F00) << (24 - 12)) | 0x000F0000);

-    if (c & 0xF000) output |= (((c & 0xF000) << (32 - 16)) | 0x0F000000);

-    return output;

-  }

-  case LTDC_FMT_L8: {

-    return ((c & 0xFF) | 0xFF000000);

-  }

-  case LTDC_FMT_AL44: {

-    register ltdc_color_t output = 0x00000000;

-    if (c & 0x0F) output |= (((c & 0x0F) << ( 8 - 4)) | 0x0000000F);

-    if (c & 0xF0) output |= (((c & 0xF0) << (32 - 8)) | 0x0F000000);

-    return output;

-  }

-  case LTDC_FMT_AL88: {

-    return (((c & 0x00FF) << ( 8 -  8)) |

-            ((c & 0xFF00) << (32 - 16)));

-  }

-  default:

-    osalDbgAssert(false, "invalid format");

-    return 0;

-  }

-}

-

-#endif  /* LTDC_USE_SOFTWARE_CONVERSIONS */

-

-/** @} */

-

-/** @} */

-

-#endif  /* STM32_LTDC_USE_LTDC */

+/*
+    Copyright (C) 2013-2015 Andrea Zoppi
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    stm32_ltdc.c
+ * @brief   LCD-TFT Controller Driver.
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "hal_stm32_ltdc.h"
+
+#if (TRUE == STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)
+
+/* TODO: Check preconditions (e.g., LTDC is ready).*/
+
+/* Ignore annoying warning messages for actually safe code.*/
+#if defined(__GNUC__) && !defined(__DOXYGEN__)
+#pragma GCC diagnostic ignored "-Wtype-limits"
+#endif
+
+/**
+ * @addtogroup ltdc
+ * @{
+ */
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#if !defined(LTDC_LxBFCR_BF) && !defined(__DOXYGEN__)
+#define LTDC_LxBFCR_BF  (LTDC_LxBFCR_BF1 | LTDC_LxBFCR_BF2)
+#endif
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   LTDC1 driver identifier.
+ */
+LTDCDriver LTDCD1;
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Bits per pixel lookup table.
+ */
+static const uint8_t ltdc_bpp[LTDC_MAX_PIXFMT_ID + 1] = {
+  32,  /* LTDC_FMT_ARGB8888 */
+  24,  /* LTDC_FMT_RGB888 */
+  16,  /* LTDC_FMT_RGB565 */
+  16,  /* LTDC_FMT_ARGB1555 */
+  16,  /* LTDC_FMT_ARGB4444 */
+   8,  /* LTDC_FMT_L8 */
+   8,  /* LTDC_FMT_AL44 */
+  16   /* LTDC_FMT_AL88 */
+};
+
+/**
+ * @brief   Invalid frame.
+ */
+static const ltdc_frame_t ltdc_invalid_frame = {
+  NULL,
+  1,
+  1,
+  1,
+  LTDC_FMT_L8
+};
+
+/**
+ * @brief   Invalid window.
+ * @details Pixel size, located at the origin of the screen.
+ */
+static const ltdc_window_t ltdc_invalid_window = {
+  0,
+  1,
+  0,
+  1
+};
+
+/**
+ * @brief   Default layer specifications.
+ */
+static const ltdc_laycfg_t ltdc_default_laycfg = {
+  &ltdc_invalid_frame,
+  &ltdc_invalid_window,
+  LTDC_COLOR_BLACK,
+  0x00,
+  LTDC_COLOR_BLACK,
+  NULL,
+  0,
+  LTDC_BLEND_FIX1_FIX2,
+  0
+};
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/**
+ * @brief   Forces LTDC register reload.
+ * @details Blocking function.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @sclass
+ * @notapi
+ */
+static void ltdc_force_reload_s(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  LTDC->SRCR |= LTDC_SRCR_IMR;
+  while (LTDC->SRCR & (LTDC_SRCR_IMR | LTDC_SRCR_VBR))
+    chSchDoYieldS();
+}
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @name    LTDC interrupt handlers
+ * @{
+ */
+
+/**
+ * @brief   LTDC event interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(STM32_LTDC_EV_HANDLER) {
+
+  LTDCDriver *const ltdcp = &LTDCD1;
+  thread_t *tp = NULL;
+
+  OSAL_IRQ_PROLOGUE();
+
+  /* Handle Line Interrupt ISR.*/
+  if ((LTDC->ISR & LTDC_ISR_LIF) && (LTDC->IER & LTDC_IER_LIE)) {
+    osalDbgAssert(ltdcp->config->line_isr != NULL, "invalid state");
+    ltdcp->config->line_isr(ltdcp);
+    LTDC->ICR |= LTDC_ICR_CLIF;
+  }
+
+  /* Handle Register Reload ISR.*/
+  if ((LTDC->ISR & LTDC_ISR_RRIF) && (LTDC->IER & LTDC_IER_RRIE)) {
+    if (ltdcp->config->rr_isr != NULL)
+      ltdcp->config->rr_isr(ltdcp);
+
+    osalSysLockFromISR();
+    osalDbgAssert(ltdcp->state == LTDC_ACTIVE, "invalid state");
+#if (TRUE == LTDC_USE_WAIT)
+    /* Wake the waiting thread up.*/
+    if (ltdcp->thread != NULL) {
+      tp = ltdcp->thread;
+      ltdcp->thread = NULL;
+      tp->u.rdymsg = MSG_OK;
+      chSchReadyI(tp);
+    }
+#endif  /* LTDC_USE_WAIT */
+    ltdcp->state = LTDC_READY;
+    osalSysUnlockFromISR();
+
+    LTDC->ICR |= LTDC_ICR_CRRIF;
+  }
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   LTDC error interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(STM32_LTDC_ER_HANDLER) {
+
+  static LTDCDriver *const ltdcp = &LTDCD1;
+
+  OSAL_IRQ_PROLOGUE();
+
+  /* Handle FIFO Underrun ISR.*/
+  if ((LTDC->ISR & LTDC_ISR_FUIF) && (LTDC->IER & LTDC_IER_FUIE)) {
+    osalDbgAssert(ltdcp->config->fuerr_isr != NULL, "invalid state");
+    ltdcp->config->fuerr_isr(ltdcp);
+    LTDC->ICR |= LTDC_ICR_CFUIF;
+  }
+
+  /* Handle Transfer Error ISR.*/
+  if ((LTDC->ISR & LTDC_ISR_TERRIF) && (LTDC->IER & LTDC_IER_TERRIE)) {
+    osalDbgAssert(ltdcp->config->terr_isr != NULL, "invalid state");
+    ltdcp->config->terr_isr(ltdcp);
+    LTDC->ICR |= LTDC_ICR_CTERRIF;
+  }
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/** @} */
+
+/**
+ * @name    LTDC driver-specific methods
+ * @{
+ */
+
+/**
+ * @brief   LTDC Driver initialization.
+ * @details Initializes the LTDC subsystem and chosen drivers. Should be
+ *          called at board initialization.
+ *
+ * @init
+ */
+void ltdcInit(void) {
+
+  /* Reset the LTDC hardware module.*/
+  rccResetLTDC();
+
+  /* Enable the LTDC clock.*/
+  RCC->DCKCFGR = (RCC->DCKCFGR & ~RCC_DCKCFGR_PLLSAIDIVR) | (2 << 16); /* /8 */
+  rccEnableLTDC(false);
+
+  /* Driver struct initialization.*/
+  ltdcObjectInit(&LTDCD1);
+  LTDCD1.state = LTDC_STOP;
+}
+
+/**
+ * @brief   Initializes the standard part of a @p LTDCDriver structure.
+ *
+ * @param[out] ltdcp    pointer to the @p LTDCDriver object
+ *
+ * @init
+ */
+void ltdcObjectInit(LTDCDriver *ltdcp) {
+
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  ltdcp->state = LTDC_UNINIT;
+  ltdcp->config = NULL;
+  ltdcp->active_window = ltdc_invalid_window;
+#if (TRUE == LTDC_USE_WAIT)
+  ltdcp->thread = NULL;
+#endif  /* LTDC_USE_WAIT */
+#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxObjectInit(&ltdcp->lock);
+#else
+  chSemObjectInit(&ltdcp->lock, 1);
+#endif
+#endif  /* LTDC_USE_MUTUAL_EXCLUSION */
+}
+
+/**
+ * @brief   Get the driver state.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @retun               driver state
+ *
+ * @iclass
+ */
+ltdc_state_t ltdcGetStateI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  return ltdcp->state;
+}
+
+/**
+ * @brief   Get the driver state.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @retun               driver state
+ *
+ * @api
+ */
+ltdc_state_t ltdcGetState(LTDCDriver *ltdcp) {
+
+  ltdc_state_t state;
+  osalSysLock();
+  state = ltdcGetStateI(ltdcp);
+  osalSysUnlock();
+  return state;
+}
+
+/**
+ * @brief   Configures and activates the LTDC peripheral.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] configp   pointer to the @p LTDCConfig object
+ *
+ * @api
+ */
+void ltdcStart(LTDCDriver *ltdcp, const LTDCConfig *configp) {
+
+  uint32_t hacc, vacc, flags;
+
+  osalSysLock();
+
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(configp != NULL);
+  osalDbgAssert(ltdcp->state == LTDC_STOP, "invalid state");
+
+  ltdcp->config = configp;
+
+  /* Turn off the controller and its interrupts.*/
+  LTDC->GCR = 0;
+  LTDC->IER = 0;
+  ltdc_force_reload_s(ltdcp);
+
+  /* Set synchronization params.*/
+  osalDbgAssert(configp->hsync_width >= LTDC_MIN_HSYNC_WIDTH, "bounds");
+  osalDbgAssert(configp->hsync_width <= LTDC_MAX_HSYNC_WIDTH, "bounds");
+  osalDbgAssert(configp->vsync_height >= LTDC_MIN_VSYNC_HEIGHT, "bounds");
+  osalDbgAssert(configp->vsync_height <= LTDC_MAX_VSYNC_HEIGHT, "bounds");
+
+  hacc = configp->hsync_width - 1;
+  vacc = configp->vsync_height - 1;
+
+  LTDC->SSCR = (((hacc << 16) & LTDC_SSCR_HSW) |
+                ((vacc <<  0) & LTDC_SSCR_VSH));
+
+  /* Set accumulated back porch params.*/
+  osalDbgAssert(configp->hbp_width >= LTDC_MIN_HBP_WIDTH, "bounds");
+  osalDbgAssert(configp->hbp_width <= LTDC_MAX_HBP_WIDTH, "bounds");
+  osalDbgAssert(configp->vbp_height >= LTDC_MIN_VBP_HEIGHT, "bounds");
+  osalDbgAssert(configp->vbp_height <= LTDC_MAX_VBP_HEIGHT, "bounds");
+
+  hacc += configp->hbp_width;
+  vacc += configp->vbp_height;
+
+  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_HBP_WIDTH, "bounds");
+  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_HBP_WIDTH, "bounds");
+  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_VBP_HEIGHT, "bounds");
+  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_VBP_HEIGHT, "bounds");
+
+  LTDC->BPCR = (((hacc << 16) & LTDC_BPCR_AHBP) |
+                ((vacc <<  0) & LTDC_BPCR_AVBP));
+
+  ltdcp->active_window.hstart = hacc + 1;
+  ltdcp->active_window.vstart = vacc + 1;
+
+  /* Set accumulated active params.*/
+  osalDbgAssert(configp->screen_width >= LTDC_MIN_SCREEN_WIDTH, "bounds");
+  osalDbgAssert(configp->screen_width <= LTDC_MAX_SCREEN_WIDTH, "bounds");
+  osalDbgAssert(configp->screen_height >= LTDC_MIN_SCREEN_HEIGHT, "bounds");
+  osalDbgAssert(configp->screen_height <= LTDC_MAX_SCREEN_HEIGHT, "bounds");
+
+  hacc += configp->screen_width;
+  vacc += configp->screen_height;
+
+  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_ACTIVE_WIDTH, "bounds");
+  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_ACTIVE_WIDTH, "bounds");
+  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_ACTIVE_HEIGHT, "bounds");
+  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_ACTIVE_HEIGHT, "bounds");
+
+  LTDC->AWCR = (((hacc << 16) & LTDC_AWCR_AAW) |
+                ((vacc <<  0) & LTDC_AWCR_AAH));
+
+  ltdcp->active_window.hstop = hacc;
+  ltdcp->active_window.vstop = vacc;
+
+  /* Set accumulated total params.*/
+  osalDbgAssert(configp->hfp_width >= LTDC_MIN_HFP_WIDTH, "bounds");
+  osalDbgAssert(configp->hfp_width <= LTDC_MAX_HFP_WIDTH, "bounds");
+  osalDbgAssert(configp->vfp_height >= LTDC_MIN_VFP_HEIGHT, "bounds");
+  osalDbgAssert(configp->vfp_height <= LTDC_MAX_VFP_HEIGHT, "bounds");
+
+  hacc += configp->hfp_width;
+  vacc += configp->vfp_height;
+
+  osalDbgAssert(hacc + 1 >= LTDC_MIN_ACC_TOTAL_WIDTH, "bounds");
+  osalDbgAssert(hacc + 1 <= LTDC_MAX_ACC_TOTAL_WIDTH, "bounds");
+  osalDbgAssert(vacc + 1 >= LTDC_MIN_ACC_TOTAL_HEIGHT, "bounds");
+  osalDbgAssert(vacc + 1 <= LTDC_MAX_ACC_TOTAL_HEIGHT, "bounds");
+
+  LTDC->TWCR = (((hacc << 16) & LTDC_TWCR_TOTALW) |
+                ((vacc <<  0) & LTDC_TWCR_TOTALH));
+
+  /* Set signal polarities and other flags.*/
+  ltdcSetEnableFlagsI(ltdcp, configp->flags & ~LTDC_EF_ENABLE);
+
+  /* Color settings.*/
+  ltdcSetClearColorI(ltdcp, configp->clear_color);
+
+  /* Load layer configurations.*/
+  ltdcBgSetConfigI(ltdcp, configp->bg_laycfg);
+  ltdcFgSetConfigI(ltdcp, configp->fg_laycfg);
+
+  /* Enable only the assigned interrupt service routines.*/
+  nvicEnableVector(STM32_LTDC_EV_NUMBER, STM32_LTDC_EV_IRQ_PRIORITY);
+  nvicEnableVector(STM32_LTDC_ER_NUMBER, STM32_LTDC_ER_IRQ_PRIORITY);
+
+  flags = LTDC_IER_RRIE;
+  if (configp->line_isr != NULL)
+    flags |= LTDC_IER_LIE;
+  if (configp->fuerr_isr != NULL)
+    flags |= LTDC_IER_FUIE;
+  if (configp->terr_isr != NULL)
+    flags |= LTDC_IER_TERRIE;
+  LTDC->IER = flags;
+
+  /* Apply settings.*/
+  ltdc_force_reload_s(ltdcp);
+
+  /* Turn on the controller.*/
+  LTDC->GCR |= LTDC_GCR_LTDCEN;
+  ltdc_force_reload_s(ltdcp);
+
+  ltdcp->state = LTDC_READY;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the LTDC peripheral.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcStop(LTDCDriver *ltdcp) {
+
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  osalSysLock();
+  osalDbgAssert(ltdcp->state == LTDC_READY, "invalid state");
+
+  /* Turn off the controller and its interrupts.*/
+  LTDC->GCR &= ~LTDC_GCR_LTDCEN;
+  LTDC->IER = 0;
+#if (TRUE == LTDC_USE_WAIT)
+  ltdcReloadS(ltdcp, true);
+#else
+  ltdcStartReloadI(ltdcp, true);
+  while (ltdcIsReloadingI(ltdcp))
+    chSchDoYieldS();
+#endif  /* LTDC_USE_WAIT */
+
+  ltdcp->state = LTDC_STOP;
+  osalSysUnlock();
+}
+
+#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)
+
+/**
+ * @brief   Gains exclusive access to the LTDC module.
+ * @details This function tries to gain ownership to the LTDC module, if the
+ *          module is already being used then the invoking thread is queued.
+ * @pre     In order to use this function the option
+ *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @sclass
+ */
+void ltdcAcquireBusS(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxLockS(&ltdcp->lock);
+#else
+  chSemWaitS(&ltdcp->lock);
+#endif
+}
+
+/**
+ * @brief   Gains exclusive access to the LTDC module.
+ * @details This function tries to gain ownership to the LTDC module, if the
+ *          module is already being used then the invoking thread is queued.
+ * @pre     In order to use this function the option
+ *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcAcquireBus(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcAcquireBusS(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Releases exclusive access to the LTDC module.
+ * @pre     In order to use this function the option
+ *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @sclass
+ */
+void ltdcReleaseBusS(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  chMtxUnlockS(&ltdcp->lock);
+#else
+  chSemSignalI(&ltdcp->lock);
+#endif
+}
+
+/**
+ * @brief   Releases exclusive access to the LTDC module.
+ * @pre     In order to use this function the option
+ *          @p LTDC_USE_MUTUAL_EXCLUSION must be enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcReleaseBus(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcReleaseBusS(ltdcp);
+  osalSysUnlock();
+}
+
+#endif  /* LTDC_USE_MUTUAL_EXCLUSION */
+
+/** @} */
+
+/**
+ * @name    LTDC global methods
+ * @{
+ */
+
+/**
+ * @brief   Get enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_EF_*</tt> group at once.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @iclass
+ */
+ltdc_flags_t ltdcGetEnableFlagsI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return LTDC->GCR & LTDC_EF_MASK;
+}
+
+/**
+ * @brief   Get enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_EF_*</tt> group at once.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @api
+ */
+ltdc_flags_t ltdcGetEnableFlags(LTDCDriver *ltdcp) {
+
+  ltdc_flags_t flags;
+  osalSysLock();
+  flags = ltdcGetEnableFlagsI(ltdcp);
+  osalSysUnlock();
+  return flags;
+}
+
+/**
+ * @brief   Set enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_EF_*</tt> group at once.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @iclass
+ */
+void ltdcSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->GCR = flags & LTDC_EF_MASK;
+}
+
+/**
+ * @brief   Set enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_EF_*</tt> group at once.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @api
+ */
+void ltdcSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalSysLock();
+  ltdcSetEnableFlagsI(ltdcp, flags);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Reloading shadow registers.
+ * @details Tells whether the LTDC is reloading shadow registers.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              reloading
+ *
+ * @iclass
+ */
+bool ltdcIsReloadingI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC->SRCR & (LTDC_SRCR_IMR | LTDC_SRCR_VBR)) != 0;
+}
+
+/**
+ * @brief   Reloading shadow registers.
+ * @details Tells whether the LTDC is reloading shadow registers.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              reloading
+ *
+ * @api
+ */
+bool ltdcIsReloading(LTDCDriver *ltdcp) {
+
+  bool reloading;
+  osalSysLock();
+  reloading = ltdcIsReloadingI(ltdcp);
+  osalSysUnlock();
+  return reloading;
+}
+
+/**
+ * @brief   Reload shadow registers.
+ * @details Starts reloading LTDC shadow registers, upon vsync or immediately.
+ * @post    At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] ltdcp         pointer to the @p LTDCDriver object
+ * @param[in] immediately   reload immediately, not upon vsync
+ *
+ * @iclass
+ */
+void ltdcStartReloadI(LTDCDriver *ltdcp, bool immediately) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgAssert(ltdcp->state == LTDC_READY, "not ready");
+  (void)ltdcp;
+
+  ltdcp->state = LTDC_ACTIVE;
+  if (immediately)
+    LTDC->SRCR |= LTDC_SRCR_IMR;
+  else
+    LTDC->SRCR |= LTDC_SRCR_VBR;
+}
+
+/**
+ * @brief   Reload shadow registers.
+ * @details Starts reloading LTDC shadow registers, upon vsync or immediately.
+ * @post    At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] ltdcp         pointer to the @p LTDCDriver object
+ * @param[in] immediately   reload immediately, not upon vsync
+ *
+ * @api
+ */
+void ltdcStartReload(LTDCDriver *ltdcp, bool immediately) {
+
+  osalSysLock();
+  ltdcStartReloadI(ltdcp, immediately);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Reload shadow registers.
+ * @details Reloads LTDC shadow registers, upon vsync or immediately.
+ *
+ * @param[in] ltdcp         pointer to the @p LTDCDriver object
+ * @param[in] immediately   reload immediately, not upon vsync
+ *
+ * @sclass
+ */
+void ltdcReloadS(LTDCDriver *ltdcp, bool immediately) {
+
+  osalDbgCheckClassS();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  ltdcStartReloadI(ltdcp, immediately);
+
+#if (TRUE == LTDC_USE_WAIT)
+  osalDbgAssert(ltdcp->thread == NULL, "already waiting");
+
+  if (immediately) {
+    while (LTDC->SRCR & LTDC_SRCR_IMR)
+      chSchDoYieldS();
+    ltdcp->state = LTDC_READY;
+  } else {
+    ltdcp->thread = chThdGetSelfX();
+    chSchGoSleepS(CH_STATE_SUSPENDED);
+  }
+#else
+  while (LTDC->SRCR & LTDC_SRCR_IMR)
+    chSchDoYieldS();
+  ltdcp->state = LTDC_READY;
+#endif
+}
+
+/**
+ * @brief   Reload shadow registers.
+ * @details Reloads LTDC shadow registers, upon vsync or immediately.
+ *
+ * @param[in] ltdcp         pointer to the @p LTDCDriver object
+ * @param[in] immediately   reload immediately, not upon vsync
+ *
+ * @api
+ */
+void ltdcReload(LTDCDriver *ltdcp, bool immediately) {
+
+  osalSysLock();
+  ltdcReloadS(ltdcp, immediately);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Dithering enabled.
+ * @details Tells whether the dithering is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcIsDitheringEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC->GCR & LTDC_GCR_DTEN) != 0;
+}
+
+/**
+ * @brief   Dithering enabled.
+ * @details Tells whether the dithering is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcIsDitheringEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcIsDitheringEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable dithering.
+ * @details Enables dithering capabilities for pixel formats with less than
+ *          8 bits per channel.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcEnableDitheringI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->GCR |= LTDC_GCR_DTEN;
+}
+
+/**
+ * @brief   Enable dithering.
+ * @details Enables dithering capabilities for pixel formats with less than
+ *          8 bits per channel.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcEnableDithering(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcEnableDitheringI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable dithering.
+ * @details Disables dithering capabilities for pixel formats with less than
+ *          8 bits per channel.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcDisableDitheringI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->GCR &= ~LTDC_GCR_DTEN;
+}
+
+/**
+ * @brief   Disable dithering.
+ * @details Disables dithering capabilities for pixel formats with less than
+ *          8 bits per channel.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcDisableDithering(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcDisableDitheringI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get clear screen color.
+ * @details Gets the clear screen (actual background) color.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              clear screen color, RGB-888
+ *
+ * @iclass
+ */
+ltdc_color_t ltdcGetClearColorI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_color_t)(LTDC->BCCR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get clear screen color.
+ * @details Gets the clear screen (actual background) color.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              clear screen color, RGB-888
+ *
+ * @api
+ */
+ltdc_color_t ltdcGetClearColor(LTDCDriver *ltdcp) {
+
+  ltdc_color_t color;
+  osalSysLock();
+  color = ltdcGetClearColorI(ltdcp);
+  osalSysUnlock();
+  return color;
+}
+
+/**
+ * @brief   Set clear screen color.
+ * @details Sets the clear screen (actual background) color.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         clear screen color, RGB-888
+ *
+ * @iclass
+ */
+void ltdcSetClearColorI(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->BCCR = (LTDC->BCCR & ~0x00FFFFFF) | (c & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Set clear screen color.
+ * @details Sets the clear screen (actual background) color.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         clear screen color, RGB-888
+ *
+ * @api
+ */
+void ltdcSetClearColor(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcSetClearColorI(ltdcp, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get line interrupt position.
+ * @details Gets the line interrupt position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              line interrupt position
+ *
+ * @iclass
+ */
+uint16_t ltdcGetLineInterruptPosI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (uint16_t)(LTDC->LIPCR & LTDC_LIPCR_LIPOS);
+}
+
+/**
+ * @brief   Get line interrupt position.
+ * @details Gets the line interrupt position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              line interrupt position
+ *
+ * @api
+ */
+uint16_t ltdcGetLineInterruptPos(LTDCDriver *ltdcp) {
+
+  uint16_t line;
+  osalSysLock();
+  line = ltdcGetLineInterruptPosI(ltdcp);
+  osalSysUnlock();
+  return line;
+}
+
+/**
+ * @brief   Set line interrupt position.
+ * @details Sets the line interrupt position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcSetLineInterruptPosI(LTDCDriver *ltdcp, uint16_t line) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->LIPCR = ((LTDC->LIPCR & ~LTDC_LIPCR_LIPOS) |
+                 ((uint32_t)line & LTDC_LIPCR_LIPOS));
+}
+
+/**
+ * @brief   Set line interrupt position.
+ * @details Sets the line interrupt position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcSetLineInterruptPos(LTDCDriver *ltdcp, uint16_t line) {
+
+  osalSysLock();
+  ltdcSetLineInterruptPosI(ltdcp, line);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Line interrupt enabled.
+ * @details Tells whether the line interrupt is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcIsLineInterruptEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC->IER & LTDC_IER_LIE) != 0;
+}
+
+/**
+ * @brief   Line interrupt enabled.
+ * @details Tells whether the line interrupt is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcIsLineInterruptEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcIsLineInterruptEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable line interrupt.
+ * @details Enables line interrupt.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcEnableLineInterruptI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->IER |= LTDC_IER_LIE;
+}
+
+/**
+ * @brief   Enable line interrupt.
+ * @details Enables line interrupt.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcEnableLineInterrupt(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcEnableLineInterruptI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable line interrupt.
+ * @details Disables line interrupt.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcDisableLineInterruptI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC->IER &= ~LTDC_IER_LIE;
+}
+
+/**
+ * @brief   Disable line interrupt.
+ * @details Disables line interrupt.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcDisableLineInterrupt(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcDisableLineInterruptI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get current position.
+ * @details Gets the current position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] xp       pointer to the destination horizontal coordinate
+ * @param[out] yp       pointer to the destination vertical coordinate
+ *
+ * @iclass
+ */
+void ltdcGetCurrentPosI(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp) {
+
+  const uint32_t r = LTDC->CPSR;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  *xp = (uint16_t)((r & LTDC_CPSR_CXPOS) >> 16);
+  *yp = (uint16_t)((r & LTDC_CPSR_CYPOS) >>  0);
+}
+
+/**
+ * @brief   Get current position.
+ * @details Gets the current position.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] xp       pointer to the destination horizontal coordinate
+ * @param[out] yp       pointer to the destination vertical coordinate
+ *
+ * @api
+ */
+void ltdcGetCurrentPos(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp) {
+
+  osalSysLock();
+  ltdcGetCurrentPosI(ltdcp, xp, yp);
+  osalSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    LTDC background layer (layer 1) methods
+ * @{
+ */
+
+/**
+ * @brief   Get background layer enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @iclass
+ */
+ltdc_flags_t ltdcBgGetEnableFlagsI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return LTDC_Layer1->CR & LTDC_LEF_MASK;
+}
+
+/**
+ * @brief   Get background layer enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @api
+ */
+ltdc_flags_t ltdcBgGetEnableFlags(LTDCDriver *ltdcp) {
+
+  ltdc_flags_t flags;
+  osalSysLock();
+  flags = ltdcBgGetEnableFlagsI(ltdcp);
+  osalSysUnlock();
+  return flags;
+}
+
+/**
+ * @brief   Set background layer enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @iclass
+ */
+void ltdcBgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR = ((LTDC_Layer1->CR & ~LTDC_LEF_MASK) |
+                     ((uint32_t)flags & LTDC_LEF_MASK));
+}
+
+/**
+ * @brief   Set background layer enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @api
+ */
+void ltdcBgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalSysLock();
+  ltdcBgSetEnableFlagsI(ltdcp, flags);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Background layer enabled.
+ * @details Tells whether the background layer (layer 1) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcBgIsEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer1->CR & ~LTDC_LxCR_LEN) != 0;
+}
+
+/**
+ * @brief   Background layer enabled.
+ * @details Tells whether the background layer (layer 1) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcBgIsEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcBgIsEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Background layer enable.
+ * @details Enables the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgEnableI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR |= LTDC_LxCR_LEN;
+}
+
+/**
+ * @brief   Background layer enable.
+ * @details Enables the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgEnable(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgEnableI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Background layer disable.
+ * @details Disables the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgDisableI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR &= ~LTDC_LxCR_LEN;
+}
+
+/**
+ * @brief   Background layer disable.
+ * @details Disables the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgDisable(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgDisableI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Background layer palette enabled.
+ * @details Tells whether the background layer (layer 1) palette (color lookup
+ *          table) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcBgIsPaletteEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer1->CR & ~LTDC_LxCR_CLUTEN) != 0;
+}
+
+/**
+ * @brief   Background layer palette enabled.
+ * @details Tells whether the background layer (layer 1) palette (color lookup
+ *          table) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcBgIsPaletteEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcBgIsPaletteEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable background layer palette.
+ * @details Enables the palette (color lookup table) of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgEnablePaletteI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR |= LTDC_LxCR_CLUTEN;
+}
+
+/**
+ * @brief   Enable background layer palette.
+ * @details Enables the palette (color lookup table) of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgEnablePalette(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgEnablePaletteI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable background layer palette.
+ * @details Disables the palette (color lookup table) of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgDisablePaletteI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR &= ~LTDC_LxCR_CLUTEN;
+}
+
+/**
+ * @brief   Disable background layer palette.
+ * @details Disables the palette (color lookup table) of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgDisablePalette(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgDisablePaletteI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer palette color.
+ * @details Sets the color of a palette (color lookup table) slot to the
+ *          background layer (layer 1).
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] slot      palette slot
+ * @param[in] c         color, RGB-888
+ *
+ * @iclass
+ */
+void ltdcBgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgAssert(!ltdcBgIsEnabledI(ltdcp), "invalid state");
+  (void)ltdcp;
+
+  LTDC_Layer1->CLUTWR = (((uint32_t)slot << 24) | (c & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set background layer palette color.
+ * @details Sets the color of a palette (color lookup table) slot to the
+ *          background layer (layer 1).
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] slot      palette slot
+ * @param[in] c         color, RGB-888
+ *
+ * @api
+ */
+void ltdcBgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcBgSetPaletteColorI(ltdcp, slot, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer palette.
+ * @details Sets the entire palette color (color lookup table) slot.
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] colors    array of palette colors, RGB-888
+ * @param[in] length    number of palette colors
+ *
+ * @iclass
+ */
+void ltdcBgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                       uint16_t length) {
+
+  uint16_t i;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck((colors == NULL) == (length == 0));
+  osalDbgAssert(length <= LTDC_MAX_PALETTE_LENGTH, "bounds");
+  osalDbgAssert(!ltdcBgIsEnabledI(ltdcp), "invalid state");
+  (void)ltdcp;
+
+  for (i = 0; i < length; ++i)
+    LTDC_Layer1->CLUTWR = (((uint32_t)i << 24) | (colors[i] & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set background layer palette.
+ * @details Sets the entire palette color (color lookup table) slot.
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] colors    array of palette colors, RGB-888
+ * @param[in] length    number of palette colors
+ *
+ * @api
+ */
+void ltdcBgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                      uint16_t length) {
+
+  osalSysLock();
+  ltdcBgSetPaletteI(ltdcp, colors, length);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer pixel format.
+ * @details Gets the pixel format of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              pixel format
+ *
+ * @iclass
+ */
+ltdc_pixfmt_t ltdcBgGetPixelFormatI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_pixfmt_t)(LTDC_Layer1->PFCR & LTDC_LxPFCR_PF);
+}
+
+/**
+ * @brief   Get background layer pixel format.
+ * @details Gets the pixel format of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              pixel format
+ *
+ * @api
+ */
+ltdc_pixfmt_t ltdcBgGetPixelFormat(LTDCDriver *ltdcp) {
+
+  ltdc_pixfmt_t fmt;
+  osalSysLock();
+  fmt = ltdcBgGetPixelFormatI(ltdcp);
+  osalSysUnlock();
+  return fmt;
+}
+
+/**
+ * @brief   Set background layer pixel format.
+ * @details Sets the pixel format of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @iclass
+ */
+void ltdcBgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgAssert(fmt >= LTDC_MIN_PIXFMT_ID, "bounds");
+  osalDbgAssert(fmt <= LTDC_MAX_PIXFMT_ID, "bounds");
+  (void)ltdcp;
+
+  LTDC_Layer1->PFCR = ((LTDC_Layer1->PFCR & ~LTDC_LxPFCR_PF) |
+                       ((uint32_t)fmt & LTDC_LxPFCR_PF));
+}
+
+/**
+ * @brief   Set background layer pixel format.
+ * @details Sets the pixel format of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @api
+ */
+void ltdcBgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {
+
+  osalSysLock();
+  ltdcBgSetPixelFormatI(ltdcp, fmt);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Background layer color keying enabled.
+ * @details Tells whether the background layer (layer 1) has color keying
+ *          enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcBgIsKeyingEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer1->CR & ~LTDC_LxCR_COLKEN) != 0;
+}
+
+/**
+ * @brief   Background layer color keying enabled.
+ * @details Tells whether the background layer (layer 1) has color keying
+ *          enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcBgIsKeyingEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcBgIsKeyingEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable background layer color keying.
+ * @details Enables color keying capabilities of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgEnableKeyingI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR |= LTDC_LxCR_COLKEN;
+}
+
+/**
+ * @brief   Enable background layer color keying.
+ * @details Enables color keying capabilities of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgEnableKeying(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgEnableKeyingI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable background layer color keying.
+ * @details Disables color keying capabilities of the background layer (layer
+ *          1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgDisableKeyingI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CR &= ~LTDC_LxCR_COLKEN;
+}
+
+/**
+ * @brief   Disable background layer color keying.
+ * @details Disables color keying capabilities of the background layer (layer
+ *          1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgDisableKeying(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgDisableKeyingI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer color key.
+ * @details Gets the color key of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              color key, RGB-888
+ *
+ * @iclass
+ */
+ltdc_color_t ltdcBgGetKeyingColorI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_color_t)(LTDC_Layer1->CKCR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get background layer color key.
+ * @details Gets the color key of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              color key, RGB-888
+ *
+ * @api
+ */
+ltdc_color_t ltdcBgGetKeyingColor(LTDCDriver *ltdcp) {
+
+  ltdc_color_t color;
+  osalSysLock();
+  color = ltdcBgGetKeyingColorI(ltdcp);
+  osalSysUnlock();
+  return color;
+}
+
+/**
+ * @brief   Set background layer color key.
+ * @details Sets the color key of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         color key, RGB-888
+ *
+ * @iclass
+ */
+void ltdcBgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CKCR = ((LTDC_Layer1->CKCR & ~0x00FFFFFF) |
+                       ((uint32_t)c & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set background layer color key.
+ * @details Sets the color key of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         color key, RGB-888
+ *
+ * @api
+ */
+void ltdcBgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcBgSetKeyingColorI(ltdcp, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer constant alpha.
+ * @details Gets the constant alpha component of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @iclass
+ */
+uint8_t ltdcBgGetConstantAlphaI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (uint8_t)(LTDC_Layer1->CACR & LTDC_LxCACR_CONSTA);
+}
+
+/**
+ * @brief   Get background layer constant alpha.
+ * @details Gets the constant alpha component of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @api
+ */
+uint8_t ltdcBgGetConstantAlpha(LTDCDriver *ltdcp) {
+
+  uint8_t a;
+  osalSysLock();
+  a = ltdcBgGetConstantAlphaI(ltdcp);
+  osalSysUnlock();
+  return a;
+}
+
+/**
+ * @brief   Set background layer constant alpha.
+ * @details Sets the constant alpha component of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @iclass
+ */
+void ltdcBgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CACR = ((LTDC_Layer1->CACR & ~LTDC_LxCACR_CONSTA) |
+                       ((uint32_t)a & LTDC_LxCACR_CONSTA));
+}
+
+/**
+ * @brief   Set background layer constant alpha.
+ * @details Sets the constant alpha component of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @api
+ */
+void ltdcBgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a) {
+
+  osalSysLock();
+  ltdcBgSetConstantAlphaI(ltdcp, a);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer default color.
+ * @details Gets the default color of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @iclass
+ */
+ltdc_color_t ltdcBgGetDefaultColorI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_color_t)LTDC_Layer1->DCCR;
+}
+
+/**
+ * @brief   Get background layer default color.
+ * @details Gets the default color of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @api
+ */
+ltdc_color_t ltdcBgGetDefaultColor(LTDCDriver *ltdcp) {
+
+  ltdc_color_t color;
+  osalSysLock();
+  color = ltdcBgGetDefaultColorI(ltdcp);
+  osalSysUnlock();
+  return color;
+}
+
+/**
+ * @brief   Set background layer default color.
+ * @details Sets the default color of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @iclass
+ */
+void ltdcBgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->DCCR = (uint32_t)c;
+}
+
+/**
+ * @brief   Set background layer default color.
+ * @details Sets the default color of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @api
+ */
+void ltdcBgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcBgSetDefaultColorI(ltdcp, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer blending factors.
+ * @details Gets the blending factors of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              blending factors
+ *
+ * @iclass
+ */
+ltdc_blendf_t ltdcBgGetBlendingFactorsI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_blendf_t)(LTDC_Layer1->BFCR & LTDC_LxBFCR_BF);
+}
+
+/**
+ * @brief   Get background layer blending factors.
+ * @details Gets the blending factors of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              blending factors
+ *
+ * @api
+ */
+ltdc_blendf_t ltdcBgGetBlendingFactors(LTDCDriver *ltdcp) {
+
+  ltdc_blendf_t bf;
+  osalSysLock();
+  bf = ltdcBgGetBlendingFactorsI(ltdcp);
+  osalSysUnlock();
+  return bf;
+}
+
+/**
+ * @brief   Set background layer blending factors.
+ * @details Sets the blending factors of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] factors   blending factors
+ *
+ * @iclass
+ */
+void ltdcBgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->BFCR = ((LTDC_Layer1->BFCR & ~LTDC_LxBFCR_BF) |
+                       ((uint32_t)bf & LTDC_LxBFCR_BF));
+}
+
+/**
+ * @brief   Set background layer blending factors.
+ * @details Sets the blending factors of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] factors   blending factors
+ *
+ * @api
+ */
+void ltdcBgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf) {
+
+  osalSysLock();
+  ltdcBgSetBlendingFactorsI(ltdcp, bf);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer window specs.
+ * @details Gets the window specifications of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] windowp  pointer to the window specifications
+ *
+ * @iclass
+ */
+void ltdcBgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(windowp != NULL);
+  (void)ltdcp;
+
+  windowp->hstart =
+    (uint16_t)((LTDC_Layer1->WHPCR & LTDC_LxWHPCR_WHSTPOS) >>  0);
+  windowp->hstop =
+    (uint16_t)((LTDC_Layer1->WHPCR & LTDC_LxWHPCR_WHSPPOS) >> 16);
+  windowp->vstart =
+    (uint16_t)((LTDC_Layer1->WVPCR & LTDC_LxWVPCR_WVSTPOS) >>  0);
+  windowp->vstop =
+    (uint16_t)((LTDC_Layer1->WVPCR & LTDC_LxWVPCR_WVSPPOS) >> 16);
+}
+
+/**
+ * @brief   Get background layer window specs.
+ * @details Gets the window specifications of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] windowp  pointer to the window specifications
+ *
+ * @api
+ */
+void ltdcBgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp) {
+
+  osalSysLock();
+  ltdcBgGetWindowI(ltdcp, windowp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer window specs.
+ * @details Sets the window specifications of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] windowp   pointer to the window specifications
+ *
+ * @iclass
+ */
+void ltdcBgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {
+
+  uint32_t start, stop;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(windowp != NULL);
+  (void)ltdcp;
+
+  osalDbgAssert(windowp->hstop < ltdcp->config->screen_width, "bounds");
+  osalDbgAssert(windowp->vstop < ltdcp->config->screen_height, "bounds");
+
+  /* Horizontal boundaries.*/
+  start = (uint32_t)windowp->hstart + ltdcp->active_window.hstart;
+  stop  = (uint32_t)windowp->hstop  + ltdcp->active_window.hstart;
+
+  osalDbgAssert(start >= ltdcp->active_window.hstart, "bounds");
+  osalDbgAssert(stop <= ltdcp->active_window.hstop, "bounds");
+
+  LTDC_Layer1->WHPCR = (((start <<  0) & LTDC_LxWHPCR_WHSTPOS) |
+                        ((stop  << 16) & LTDC_LxWHPCR_WHSPPOS));
+
+  /* Vertical boundaries.*/
+  start = (uint32_t)windowp->vstart + ltdcp->active_window.vstart;
+  stop  = (uint32_t)windowp->vstop  + ltdcp->active_window.vstart;
+
+  osalDbgAssert(start >= ltdcp->active_window.vstart, "bounds");
+  osalDbgAssert(stop <= ltdcp->active_window.vstop, "bounds");
+
+  LTDC_Layer1->WVPCR = (((start <<  0) & LTDC_LxWVPCR_WVSTPOS) |
+                        ((stop  << 16) & LTDC_LxWVPCR_WVSPPOS));
+}
+
+/**
+ * @brief   Set background layer window specs.
+ * @details Sets the window specifications of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] windowp   pointer to the window specifications
+ *
+ * @api
+ */
+void ltdcBgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {
+
+  osalSysLock();
+  ltdcBgSetWindowI(ltdcp, windowp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer window as invalid.
+ * @details Sets the window specifications of the background layer (layer 1)
+ *          so that the window is pixel sized at the screen origin.
+ * @note    Useful before reconfiguring the frame specifications of the layer,
+ *          to avoid errors.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcBgSetInvalidWindowI(LTDCDriver *ltdcp) {
+
+  ltdcBgSetWindowI(ltdcp, &ltdc_invalid_window);
+}
+
+/**
+ * @brief   Set background layer window as invalid.
+ * @details Sets the window specifications of the background layer (layer 1)
+ *          so that the window is pixel sized at the screen origin.
+ * @note    Useful before reconfiguring the frame specifications of the layer,
+ *          to avoid errors.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcBgSetInvalidWindow(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcBgSetWindowI(ltdcp, &ltdc_invalid_window);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer frame buffer specs.
+ * @details Gets the frame buffer specifications of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] framep   pointer to the frame buffer specifications
+ *
+ * @iclass
+ */
+void ltdcBgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(framep != NULL);
+
+  framep->bufferp = (void *)(LTDC_Layer1->CFBAR & LTDC_LxCFBAR_CFBADD);
+  framep->pitch   = (size_t)((LTDC_Layer1->CFBLR & LTDC_LxCFBLR_CFBP) >> 16);
+  framep->width   = (uint16_t)(((LTDC_Layer1->CFBLR & LTDC_LxCFBLR_CFBLL) - 3) /
+                    ltdcBytesPerPixel(ltdcBgGetPixelFormatI(ltdcp)));
+  framep->height  = (uint16_t)(LTDC_Layer1->CFBLNR & LTDC_LxCFBLNR_CFBLNBR);
+}
+
+/**
+ * @brief   Get background layer frame buffer specs.
+ * @details Gets the frame buffer specifications of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] framep   pointer to the frame buffer specifications
+ *
+ * @api
+ */
+void ltdcBgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep) {
+
+  osalSysLock();
+  ltdcBgGetFrameI(ltdcp, framep);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer frame buffer specs.
+ * @details Sets the frame buffer specifications of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] framep    pointer to the frame buffer specifications
+ *
+ * @iclass
+ */
+void ltdcBgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {
+
+  size_t linesize;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(framep != NULL);
+
+  ltdcBgSetPixelFormatI(ltdcp, framep->fmt);
+
+  linesize = ltdcBytesPerPixel(framep->fmt) * framep->width;
+
+  osalDbgAssert(framep->width  <= ltdcp->config->screen_width, "bounds");
+  osalDbgAssert(framep->height <= ltdcp->config->screen_height, "bounds");
+  osalDbgAssert(linesize >= LTDC_MIN_FRAME_WIDTH_BYTES, "bounds");
+  osalDbgAssert(linesize <= LTDC_MAX_FRAME_WIDTH_BYTES, "bounds");
+  osalDbgAssert(framep->height >= LTDC_MIN_FRAME_HEIGHT_LINES, "bounds");
+  osalDbgAssert(framep->height <= LTDC_MAX_FRAME_HEIGHT_LINES, "bounds");
+  osalDbgAssert(framep->pitch  >= linesize, "bounds");
+
+  LTDC_Layer1->CFBAR = (uint32_t)framep->bufferp & LTDC_LxCFBAR_CFBADD;
+  LTDC_Layer1->CFBLR = ((((uint32_t)framep->pitch << 16) & LTDC_LxCFBLR_CFBP) |
+                        ((linesize + 3) & LTDC_LxCFBLR_CFBLL));
+  LTDC_Layer1->CFBLNR = (uint32_t)framep->height & LTDC_LxCFBLNR_CFBLNBR;
+}
+
+/**
+ * @brief   Set background layer frame buffer specs.
+ * @details Sets the frame buffer specifications of the background layer
+ *          (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] framep    pointer to the frame buffer specifications
+ *
+ * @api
+ */
+void ltdcBgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {
+
+  osalSysLock();
+  ltdcBgSetFrameI(ltdcp, framep);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer frame buffer address.
+ * @details Gets the frame buffer address of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              frame buffer address
+ *
+ * @iclass
+ */
+void *ltdcBgGetFrameAddressI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (void *)LTDC_Layer1->CFBAR;
+}
+
+/**
+ * @brief   Get background layer frame buffer address.
+ * @details Gets the frame buffer address of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              frame buffer address
+ *
+ * @api
+ */
+void *ltdcBgGetFrameAddress(LTDCDriver *ltdcp) {
+
+  void *bufferp;
+  osalSysLock();
+  bufferp = ltdcBgGetFrameAddressI(ltdcp);
+  osalSysUnlock();
+  return bufferp;
+}
+
+/**
+ * @brief   Set background layer frame buffer address.
+ * @details Sets the frame buffer address of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] bufferp   frame buffer address
+ *
+ * @iclass
+ */
+void ltdcBgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer1->CFBAR = (uint32_t)bufferp;
+}
+
+/**
+ * @brief   Set background layer frame buffer address.
+ * @details Sets the frame buffer address of the background layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] bufferp   frame buffer address
+ *
+ * @api
+ */
+void ltdcBgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp) {
+
+  osalSysLock();
+  ltdcBgSetFrameAddressI(ltdcp, bufferp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get background layer specifications.
+ * @details Gets the background layer (layer 1) specifications at once.
+ * @note    If palette specifications cannot be retrieved, they are set to
+ *          @p NULL. This is not an error.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @iclass
+ */
+void ltdcBgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(cfgp != NULL);
+
+  ltdcBgGetFrameI(ltdcp, (ltdc_frame_t *)cfgp->frame);
+  ltdcBgGetWindowI(ltdcp, (ltdc_window_t *)cfgp->window);
+  cfgp->def_color = ltdcBgGetDefaultColorI(ltdcp);
+  cfgp->key_color = ltdcBgGetKeyingColorI(ltdcp);
+  cfgp->const_alpha = ltdcBgGetConstantAlphaI(ltdcp);
+  cfgp->blending = ltdcBgGetBlendingFactorsI(ltdcp);
+
+  cfgp->pal_colors = NULL;
+  cfgp->pal_length = 0;
+
+  cfgp->flags = ltdcBgGetEnableFlagsI(ltdcp);
+}
+
+/**
+ * @brief   Get background layer specifications.
+ * @details Gets the background layer (layer 1) specifications at once.
+ * @note    If palette specifications cannot be retrieved, they are set to
+ *          @p NULL. This is not an error.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @api
+ */
+void ltdcBgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {
+
+  osalSysLock();
+  ltdcBgGetLayerI(ltdcp, cfgp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set background layer specifications.
+ * @details Sets the background layer (layer 1) specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @iclass
+ */
+void ltdcBgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  if (cfgp == NULL)
+    cfgp = &ltdc_default_laycfg;
+
+  osalDbgCheck((cfgp->pal_colors == NULL) == (cfgp->pal_length == 0));
+
+  ltdcBgSetFrameI(ltdcp, cfgp->frame);
+  ltdcBgSetWindowI(ltdcp, cfgp->window);
+  ltdcBgSetDefaultColorI(ltdcp, cfgp->def_color);
+  ltdcBgSetKeyingColorI(ltdcp, cfgp->key_color);
+  ltdcBgSetConstantAlphaI(ltdcp, cfgp->const_alpha);
+  ltdcBgSetBlendingFactorsI(ltdcp, cfgp->blending);
+
+  if (cfgp->pal_length > 0)
+    ltdcBgSetPaletteI(ltdcp, cfgp->pal_colors, cfgp->pal_length);
+
+  ltdcBgSetEnableFlagsI(ltdcp, cfgp->flags);
+}
+
+/**
+ * @brief   Set background layer specifications.
+ * @details Sets the background layer (layer 1) specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @api
+ */
+void ltdcBgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {
+
+  osalSysLock();
+  ltdcBgSetConfigI(ltdcp, cfgp);
+  osalSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    LTDC foreground layer (layer 2) methods
+ * @{
+ */
+
+/**
+ * @brief   Get foreground layer enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @iclass
+ */
+ltdc_flags_t ltdcFgGetEnableFlagsI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return LTDC_Layer2->CR & LTDC_LEF_MASK;
+}
+
+/**
+ * @brief   Get foreground layer enabled flags.
+ * @details Returns all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled flags
+ *
+ * @api
+ */
+ltdc_flags_t ltdcFgGetEnableFlags(LTDCDriver *ltdcp) {
+
+  ltdc_flags_t flags;
+  osalSysLock();
+  flags = ltdcFgGetEnableFlagsI(ltdcp);
+  osalSysUnlock();
+  return flags;
+}
+
+/**
+ * @brief   Set foreground layer enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @iclass
+ */
+void ltdcFgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR = ((LTDC_Layer2->CR & ~LTDC_LEF_MASK) |
+                     ((uint32_t)flags & LTDC_LEF_MASK));
+}
+
+/**
+ * @brief   Set foreground layer enabled flags.
+ * @details Sets all the flags of the <tt>LTDC_LEF_*</tt> group at once.
+ *          Targeting the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] flags     enabled flags
+ *
+ * @api
+ */
+void ltdcFgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags) {
+
+  osalSysLock();
+  ltdcFgSetEnableFlagsI(ltdcp, flags);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Foreground layer enabled.
+ * @details Tells whether the foreground layer (layer 2) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcFgIsEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer2->CR & ~LTDC_LxCR_LEN) != 0;
+}
+
+/**
+ * @brief   Foreground layer enabled.
+ * @details Tells whether the foreground layer (layer 2) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcFgIsEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcFgIsEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Foreground layer enable.
+ * @details Enables the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgEnableI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR |= LTDC_LxCR_LEN;
+}
+
+/**
+ * @brief   Foreground layer enable.
+ * @details Enables the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgEnable(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgEnableI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Foreground layer disable.
+ * @details Disables the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgDisableI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR &= ~LTDC_LxCR_LEN;
+}
+
+/**
+ * @brief   Foreground layer disable.
+ * @details Disables the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgDisable(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgDisableI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Foreground layer palette enabled.
+ * @details Tells whether the foreground layer (layer 2) palette (color lookup
+ *          table) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcFgIsPaletteEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer2->CR & ~LTDC_LxCR_CLUTEN) != 0;
+}
+
+/**
+ * @brief   Foreground layer palette enabled.
+ * @details Tells whether the foreground layer (layer 2) palette (color lookup
+ *          table) is enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcFgIsPaletteEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcFgIsPaletteEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable foreground layer palette.
+ * @details Enables the palette (color lookup table) of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgEnablePaletteI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR |= LTDC_LxCR_CLUTEN;
+}
+
+/**
+ * @brief   Enable foreground layer palette.
+ * @details Enables the palette (color lookup table) of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgEnablePalette(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgEnablePaletteI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable foreground layer palette.
+ * @details Disables the palette (color lookup table) of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgDisablePaletteI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR &= ~LTDC_LxCR_CLUTEN;
+}
+
+/**
+ * @brief   Disable foreground layer palette.
+ * @details Disables the palette (color lookup table) of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgDisablePalette(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgDisablePaletteI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer palette color.
+ * @details Sets the color of a palette (color lookup table) slot to the
+ *          foreground layer (layer 2).
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] slot      palette slot
+ * @param[in] c         color, RGB-888
+ *
+ * @iclass
+ */
+void ltdcFgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgAssert(!ltdcFgIsEnabledI(ltdcp), "invalid state");
+  (void)ltdcp;
+
+  LTDC_Layer2->CLUTWR = (((uint32_t)slot << 24) | (c & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set foreground layer palette color.
+ * @details Sets the color of a palette (color lookup table) slot to the
+ *          foreground layer (layer 2).
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] slot      palette slot
+ * @param[in] c         color, RGB-888
+ *
+ * @api
+ */
+void ltdcFgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcFgSetPaletteColorI(ltdcp, slot, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer palette.
+ * @details Sets the entire palette color (color lookup table) slot.
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] colors    array of palette colors, RGB-888
+ * @param[in] length    number of palette colors
+ *
+ * @iclass
+ */
+void ltdcFgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                       uint16_t length) {
+
+  uint16_t i;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck((colors == NULL) == (length == 0));
+  osalDbgAssert(length <= LTDC_MAX_PALETTE_LENGTH, "bounds");
+  osalDbgAssert(!ltdcFgIsEnabledI(ltdcp), "invalid state");
+  (void)ltdcp;
+
+  for (i = 0; i < length; ++i)
+    LTDC_Layer2->CLUTWR = (((uint32_t)i << 24) | (colors[i] & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set foreground layer palette.
+ * @details Sets the entire palette color (color lookup table) slot.
+ * @pre     The layer must be disabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] colors    array of palette colors, RGB-888
+ * @param[in] length    number of palette colors
+ *
+ * @api
+ */
+void ltdcFgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                      uint16_t length) {
+
+  osalSysLock();
+  ltdcFgSetPaletteI(ltdcp, colors, length);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer pixel format.
+ * @details Gets the pixel format of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              pixel format
+ *
+ * @iclass
+ */
+ltdc_pixfmt_t ltdcFgGetPixelFormatI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_pixfmt_t)(LTDC_Layer2->PFCR & LTDC_LxPFCR_PF);
+}
+
+/**
+ * @brief   Get foreground layer pixel format.
+ * @details Gets the pixel format of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              pixel format
+ *
+ * @api
+ */
+ltdc_pixfmt_t ltdcFgGetPixelFormat(LTDCDriver *ltdcp) {
+
+  ltdc_pixfmt_t fmt;
+  osalSysLock();
+  fmt = ltdcFgGetPixelFormatI(ltdcp);
+  osalSysUnlock();
+  return fmt;
+}
+
+/**
+ * @brief   Set foreground layer pixel format.
+ * @details Sets the pixel format of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @iclass
+ */
+void ltdcFgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgAssert(fmt >= LTDC_MIN_PIXFMT_ID, "bounds");
+  osalDbgAssert(fmt <= LTDC_MAX_PIXFMT_ID, "bounds");
+  (void)ltdcp;
+
+  LTDC_Layer2->PFCR = ((LTDC_Layer2->PFCR & ~LTDC_LxPFCR_PF) |
+                       ((uint32_t)fmt & LTDC_LxPFCR_PF));
+}
+
+/**
+ * @brief   Set foreground layer pixel format.
+ * @details Sets the pixel format of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] fmt       pixel format
+ *
+ * @api
+ */
+void ltdcFgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt) {
+
+  osalSysLock();
+  ltdcFgSetPixelFormatI(ltdcp, fmt);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Foreground layer color keying enabled.
+ * @details Tells whether the foreground layer (layer 2) has color keying
+ *          enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @iclass
+ */
+bool ltdcFgIsKeyingEnabledI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (LTDC_Layer2->CR & ~LTDC_LxCR_COLKEN) != 0;
+}
+
+/**
+ * @brief   Foreground layer color keying enabled.
+ * @details Tells whether the foreground layer (layer 2) has color keying
+ *          enabled.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              enabled
+ *
+ * @api
+ */
+bool ltdcFgIsKeyingEnabled(LTDCDriver *ltdcp) {
+
+  bool enabled;
+  osalSysLock();
+  enabled = ltdcFgIsKeyingEnabledI(ltdcp);
+  osalSysUnlock();
+  return enabled;
+}
+
+/**
+ * @brief   Enable foreground layer color keying.
+ * @details Enables color keying capabilities of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgEnableKeyingI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR |= LTDC_LxCR_COLKEN;
+}
+
+/**
+ * @brief   Enable foreground layer color keying.
+ * @details Enables color keying capabilities of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgEnableKeying(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgEnableKeyingI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disable foreground layer color keying.
+ * @details Disables color keying capabilities of the foreground layer (layer
+ *          2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgDisableKeyingI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CR &= ~LTDC_LxCR_COLKEN;
+}
+
+/**
+ * @brief   Disable foreground layer color keying.
+ * @details Disables color keying capabilities of the foreground layer (layer
+ *          2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgDisableKeying(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgDisableKeyingI(ltdcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer color key.
+ * @details Gets the color key of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              color key, RGB-888
+ *
+ * @iclass
+ */
+ltdc_color_t ltdcFgGetKeyingColorI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_color_t)(LTDC_Layer2->CKCR & 0x00FFFFFF);
+}
+
+/**
+ * @brief   Get foreground layer color key.
+ * @details Gets the color key of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              color key, RGB-888
+ *
+ * @api
+ */
+ltdc_color_t ltdcFgGetKeyingColor(LTDCDriver *ltdcp) {
+
+  ltdc_color_t color;
+  osalSysLock();
+  color = ltdcFgGetKeyingColorI(ltdcp);
+  osalSysUnlock();
+  return color;
+}
+
+/**
+ * @brief   Set foreground layer color key.
+ * @details Sets the color key of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         color key, RGB-888
+ *
+ * @iclass
+ */
+void ltdcFgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CKCR = ((LTDC_Layer2->CKCR & ~0x00FFFFFF) |
+                       ((uint32_t)c & 0x00FFFFFF));
+}
+
+/**
+ * @brief   Set foreground layer color key.
+ * @details Sets the color key of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         color key, RGB-888
+ *
+ * @api
+ */
+void ltdcFgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcFgSetKeyingColorI(ltdcp, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer constant alpha.
+ * @details Gets the constant alpha component of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @iclass
+ */
+uint8_t ltdcFgGetConstantAlphaI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (uint8_t)(LTDC_Layer2->CACR & LTDC_LxCACR_CONSTA);
+}
+
+/**
+ * @brief   Get foreground layer constant alpha.
+ * @details Gets the constant alpha component of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              constant alpha component, A-8
+ *
+ * @api
+ */
+uint8_t ltdcFgGetConstantAlpha(LTDCDriver *ltdcp) {
+
+  uint8_t a;
+  osalSysLock();
+  a = ltdcFgGetConstantAlphaI(ltdcp);
+  osalSysUnlock();
+  return a;
+}
+
+/**
+ * @brief   Set foreground layer constant alpha.
+ * @details Sets the constant alpha component of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @iclass
+ */
+void ltdcFgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CACR = ((LTDC_Layer2->CACR & ~LTDC_LxCACR_CONSTA) |
+                       ((uint32_t)a & LTDC_LxCACR_CONSTA));
+}
+
+/**
+ * @brief   Set foreground layer constant alpha.
+ * @details Sets the constant alpha component of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] a         constant alpha component, A-8
+ *
+ * @api
+ */
+void ltdcFgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a) {
+
+  osalSysLock();
+  ltdcFgSetConstantAlphaI(ltdcp, a);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer default color.
+ * @details Gets the default color of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @iclass
+ */
+ltdc_color_t ltdcFgGetDefaultColorI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_color_t)LTDC_Layer2->DCCR;
+}
+
+/**
+ * @brief   Get foreground layer default color.
+ * @details Gets the default color of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              default color, RGB-888
+ *
+ * @api
+ */
+ltdc_color_t ltdcFgGetDefaultColor(LTDCDriver *ltdcp) {
+
+  ltdc_color_t color;
+  osalSysLock();
+  color = ltdcFgGetDefaultColorI(ltdcp);
+  osalSysUnlock();
+  return color;
+}
+
+/**
+ * @brief   Set foreground layer default color.
+ * @details Sets the default color of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @iclass
+ */
+void ltdcFgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->DCCR = (uint32_t)c;
+}
+
+/**
+ * @brief   Set foreground layer default color.
+ * @details Sets the default color of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] c         default color, RGB-888
+ *
+ * @api
+ */
+void ltdcFgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c) {
+
+  osalSysLock();
+  ltdcFgSetDefaultColorI(ltdcp, c);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer blending factors.
+ * @details Gets the blending factors of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              blending factors
+ *
+ * @iclass
+ */
+ltdc_blendf_t ltdcFgGetBlendingFactorsI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (ltdc_blendf_t)(LTDC_Layer2->BFCR & LTDC_LxBFCR_BF);
+}
+
+/**
+ * @brief   Get foreground layer blending factors.
+ * @details Gets the blending factors of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              blending factors
+ *
+ * @api
+ */
+ltdc_blendf_t ltdcFgGetBlendingFactors(LTDCDriver *ltdcp) {
+
+  ltdc_blendf_t bf;
+  osalSysLock();
+  bf = ltdcFgGetBlendingFactorsI(ltdcp);
+  osalSysUnlock();
+  return bf;
+}
+
+/**
+ * @brief   Set foreground layer blending factors.
+ * @details Sets the blending factors of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] factors   blending factors
+ *
+ * @iclass
+ */
+void ltdcFgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->BFCR = ((LTDC_Layer2->BFCR & ~LTDC_LxBFCR_BF) |
+                       ((uint32_t)bf & LTDC_LxBFCR_BF));
+}
+
+/**
+ * @brief   Set foreground layer blending factors.
+ * @details Sets the blending factors of the foreground layer (layer 1).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] factors   blending factors
+ *
+ * @api
+ */
+void ltdcFgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf) {
+
+  osalSysLock();
+  ltdcFgSetBlendingFactorsI(ltdcp, bf);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer window specs.
+ * @details Gets the window specifications of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] windowp  pointer to the window specifications
+ *
+ * @iclass
+ */
+void ltdcFgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(windowp != NULL);
+  (void)ltdcp;
+
+  windowp->hstart =
+    (uint16_t)((LTDC_Layer2->WHPCR & LTDC_LxWHPCR_WHSTPOS) >>  0);
+  windowp->hstop =
+    (uint16_t)((LTDC_Layer2->WHPCR & LTDC_LxWHPCR_WHSPPOS) >> 16);
+  windowp->vstart =
+    (uint16_t)((LTDC_Layer2->WVPCR & LTDC_LxWVPCR_WVSTPOS) >>  0);
+  windowp->vstop =
+    (uint16_t)((LTDC_Layer2->WVPCR & LTDC_LxWVPCR_WVSPPOS) >> 16);
+}
+
+/**
+ * @brief   Get foreground layer window specs.
+ * @details Gets the window specifications of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] windowp  pointer to the window specifications
+ *
+ * @api
+ */
+void ltdcFgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp) {
+
+  osalSysLock();
+  ltdcFgGetWindowI(ltdcp, windowp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer window specs.
+ * @details Sets the window specifications of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] windowp   pointer to the window specifications
+ *
+ * @iclass
+ */
+void ltdcFgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {
+
+  uint32_t start, stop;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(windowp != NULL);
+  (void)ltdcp;
+
+  osalDbgAssert(windowp->hstop < ltdcp->config->screen_width, "bounds");
+  osalDbgAssert(windowp->vstop < ltdcp->config->screen_height, "bounds");
+
+  /* Horizontal boundaries.*/
+  start = (uint32_t)windowp->hstart + ltdcp->active_window.hstart;
+  stop  = (uint32_t)windowp->hstop  + ltdcp->active_window.hstart;
+
+  osalDbgAssert(start >= ltdcp->active_window.hstart, "bounds");
+  osalDbgAssert(stop <= ltdcp->active_window.hstop, "bounds");
+
+  LTDC_Layer2->WHPCR = (((start <<  0) & LTDC_LxWHPCR_WHSTPOS) |
+                        ((stop  << 16) & LTDC_LxWHPCR_WHSPPOS));
+
+  /* Vertical boundaries.*/
+  start = (uint32_t)windowp->vstart + ltdcp->active_window.vstart;
+  stop  = (uint32_t)windowp->vstop  + ltdcp->active_window.vstart;
+
+  osalDbgAssert(start >= ltdcp->active_window.vstart, "bounds");
+  osalDbgAssert(stop <= ltdcp->active_window.vstop, "bounds");
+
+  LTDC_Layer2->WVPCR = (((start <<  0) & LTDC_LxWVPCR_WVSTPOS) |
+                        ((stop  << 16) & LTDC_LxWVPCR_WVSPPOS));
+}
+
+/**
+ * @brief   Set foreground layer window specs.
+ * @details Sets the window specifications of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] windowp   pointer to the window specifications
+ *
+ * @api
+ */
+void ltdcFgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp) {
+
+  osalSysLock();
+  ltdcFgSetWindowI(ltdcp, windowp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer window as invalid.
+ * @details Sets the window specifications of the foreground layer (layer 2)
+ *          so that the window is pixel sized at the screen origin.
+ * @note    Useful before reconfiguring the frame specifications of the layer,
+ *          to avoid errors.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @iclass
+ */
+void ltdcFgSetInvalidWindowI(LTDCDriver *ltdcp) {
+
+  ltdcFgSetWindowI(ltdcp, &ltdc_invalid_window);
+}
+
+/**
+ * @brief   Set foreground layer window as invalid.
+ * @details Sets the window specifications of the foreground layer (layer 2)
+ *          so that the window is pixel sized at the screen origin.
+ * @note    Useful before reconfiguring the frame specifications of the layer,
+ *          to avoid errors.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @api
+ */
+void ltdcFgSetInvalidWindow(LTDCDriver *ltdcp) {
+
+  osalSysLock();
+  ltdcFgSetWindowI(ltdcp, &ltdc_invalid_window);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer frame buffer specs.
+ * @details Gets the frame buffer specifications of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] framep   pointer to the frame buffer specifications
+ *
+ * @iclass
+ */
+void ltdcFgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(framep != NULL);
+
+  framep->bufferp = (void *)(LTDC_Layer2->CFBAR & LTDC_LxCFBAR_CFBADD);
+  framep->pitch   = (size_t)((LTDC_Layer2->CFBLR & LTDC_LxCFBLR_CFBP) >> 16);
+  framep->width   = (uint16_t)(((LTDC_Layer2->CFBLR & LTDC_LxCFBLR_CFBLL) - 3) /
+                    ltdcBytesPerPixel(ltdcFgGetPixelFormatI(ltdcp)));
+  framep->height  = (uint16_t)(LTDC_Layer2->CFBLNR & LTDC_LxCFBLNR_CFBLNBR);
+}
+
+/**
+ * @brief   Get foreground layer frame buffer specs.
+ * @details Gets the frame buffer specifications of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] framep   pointer to the frame buffer specifications
+ *
+ * @api
+ */
+void ltdcFgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep) {
+
+  osalSysLock();
+  ltdcFgGetFrameI(ltdcp, framep);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer frame buffer specs.
+ * @details Sets the frame buffer specifications of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] framep    pointer to the frame buffer specifications
+ *
+ * @iclass
+ */
+void ltdcFgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {
+
+  size_t linesize;
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(framep != NULL);
+
+  ltdcFgSetPixelFormatI(ltdcp, framep->fmt);
+
+  linesize = ltdcBytesPerPixel(framep->fmt) * framep->width;
+
+  osalDbgAssert(framep->width  <= ltdcp->config->screen_width, "bounds");
+  osalDbgAssert(framep->height <= ltdcp->config->screen_height, "bounds");
+  osalDbgAssert(linesize >= LTDC_MIN_FRAME_WIDTH_BYTES, "bounds");
+  osalDbgAssert(linesize <= LTDC_MAX_FRAME_WIDTH_BYTES, "bounds");
+  osalDbgAssert(framep->height >= LTDC_MIN_FRAME_HEIGHT_LINES, "bounds");
+  osalDbgAssert(framep->height <= LTDC_MAX_FRAME_HEIGHT_LINES, "bounds");
+  osalDbgAssert(framep->pitch  >= linesize, "bounds");
+
+  LTDC_Layer2->CFBAR = (uint32_t)framep->bufferp & LTDC_LxCFBAR_CFBADD;
+  LTDC_Layer2->CFBLR = ((((uint32_t)framep->pitch << 16) & LTDC_LxCFBLR_CFBP) |
+                        ((linesize + 3) & LTDC_LxCFBLR_CFBLL));
+  LTDC_Layer2->CFBLNR = (uint32_t)framep->height & LTDC_LxCFBLNR_CFBLNBR;
+}
+
+/**
+ * @brief   Set foreground layer frame buffer specs.
+ * @details Sets the frame buffer specifications of the foreground layer
+ *          (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] framep    pointer to the frame buffer specifications
+ *
+ * @api
+ */
+void ltdcFgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep) {
+
+  osalSysLock();
+  ltdcFgSetFrameI(ltdcp, framep);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer frame buffer address.
+ * @details Gets the frame buffer address of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              frame buffer address
+ *
+ * @iclass
+ */
+void *ltdcFgGetFrameAddressI(LTDCDriver *ltdcp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  return (void *)LTDC_Layer2->CFBAR;
+}
+
+/**
+ * @brief   Get foreground layer frame buffer address.
+ * @details Gets the frame buffer address of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ *
+ * @return              frame buffer address
+ *
+ * @api
+ */
+void *ltdcFgGetFrameAddress(LTDCDriver *ltdcp) {
+
+  void *bufferp;
+  osalSysLock();
+  bufferp = ltdcFgGetFrameAddressI(ltdcp);
+  osalSysUnlock();
+  return bufferp;
+}
+
+/**
+ * @brief   Set foreground layer frame buffer address.
+ * @details Sets the frame buffer address of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] bufferp   frame buffer address
+ *
+ * @iclass
+ */
+void ltdcFgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  (void)ltdcp;
+
+  LTDC_Layer2->CFBAR = (uint32_t)bufferp;
+}
+
+/**
+ * @brief   Set foreground layer frame buffer address.
+ * @details Sets the frame buffer address of the foreground layer (layer 2).
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] bufferp   frame buffer address
+ *
+ * @api
+ */
+void ltdcFgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp) {
+
+  osalSysLock();
+  ltdcFgSetFrameAddressI(ltdcp, bufferp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Get foreground layer specifications.
+ * @details Gets the foreground layer (layer 2) specifications at once.
+ * @note    If palette specifications cannot be retrieved, they are set to
+ *          @p NULL. This is not an error.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @iclass
+ */
+void ltdcFgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+  osalDbgCheck(cfgp != NULL);
+
+  ltdcFgGetFrameI(ltdcp, (ltdc_frame_t *)cfgp->frame);
+  ltdcFgGetWindowI(ltdcp, (ltdc_window_t *)cfgp->window);
+  cfgp->def_color = ltdcFgGetDefaultColorI(ltdcp);
+  cfgp->key_color = ltdcFgGetKeyingColorI(ltdcp);
+  cfgp->const_alpha = ltdcFgGetConstantAlphaI(ltdcp);
+  cfgp->blending = ltdcFgGetBlendingFactorsI(ltdcp);
+
+  cfgp->pal_colors = NULL;
+  cfgp->pal_length = 0;
+
+  cfgp->flags = ltdcFgGetEnableFlagsI(ltdcp);
+}
+
+/**
+ * @brief   Get foreground layer specifications.
+ * @details Gets the foreground layer (layer 2) specifications at once.
+ * @note    If palette specifications cannot be retrieved, they are set to
+ *          @p NULL. This is not an error.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[out] cfgp     pointer to the layer specifications
+ *
+ * @api
+ */
+void ltdcFgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp) {
+
+  osalSysLock();
+  ltdcFgGetLayerI(ltdcp, cfgp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Set foreground layer specifications.
+ * @details Sets the foreground layer (layer 2) specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @iclass
+ */
+void ltdcFgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {
+
+  osalDbgCheckClassI();
+  osalDbgCheck(ltdcp == &LTDCD1);
+
+  if (cfgp == NULL)
+    cfgp = &ltdc_default_laycfg;
+
+  osalDbgCheck((cfgp->pal_colors == NULL) == (cfgp->pal_length == 0));
+
+  ltdcFgSetFrameI(ltdcp, cfgp->frame);
+  ltdcFgSetWindowI(ltdcp, cfgp->window);
+  ltdcFgSetDefaultColorI(ltdcp, cfgp->def_color);
+  ltdcFgSetKeyingColorI(ltdcp, cfgp->key_color);
+  ltdcFgSetConstantAlphaI(ltdcp, cfgp->const_alpha);
+  ltdcFgSetBlendingFactorsI(ltdcp, cfgp->blending);
+
+  if (cfgp->pal_length > 0)
+    ltdcFgSetPaletteI(ltdcp, cfgp->pal_colors, cfgp->pal_length);
+
+  ltdcFgSetEnableFlagsI(ltdcp, cfgp->flags);
+}
+
+/**
+ * @brief   Set foreground layer specifications.
+ * @details Sets the foreground layer (layer 2) specifications at once.
+ * @note    If the palette is unspecified, the layer palette is unmodified.
+ *
+ * @param[in] ltdcp     pointer to the @p LTDCDriver object
+ * @param[in] cfgp      pointer to the layer specifications
+ *
+ * @api
+ */
+void ltdcFgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp) {
+
+  osalSysLock();
+  ltdcFgSetConfigI(ltdcp, cfgp);
+  osalSysUnlock();
+}
+
+/** @} */
+
+/**
+ * @name    LTDC helper functions
+ */
+
+/**
+ * @brief   Compute bits per pixel.
+ * @details Computes the bits per pixel for the specified pixel format.
+ *
+ * @param[in] fmt       pixel format
+ *
+ * @retuen              bits per pixel
+ *
+ * @api
+ */
+size_t ltdcBitsPerPixel(ltdc_pixfmt_t fmt) {
+
+  osalDbgAssert(fmt < LTDC_MAX_PIXFMT_ID, "invalid format");
+
+  return (size_t)ltdc_bpp[(unsigned)fmt];
+}
+
+#if (TRUE == LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Convert from ARGB-8888.
+ * @details Converts an ARGB-8888 color to the specified pixel format.
+ *
+ * @param[in] c         color, ARGB-8888
+ * @param[in] fmt       target pixel format
+ *
+ * @return              raw color value for the target pixel format, left
+ *                      padded with zeros.
+ *
+ * @api
+ */
+ltdc_color_t ltdcFromARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt) {
+
+  switch (fmt) {
+  case LTDC_FMT_ARGB8888: {
+    return c;
+  }
+  case LTDC_FMT_RGB888: {
+    return (c & 0x00FFFFFF);
+  }
+  case LTDC_FMT_RGB565: {
+    return (((c & 0x000000F8) >> ( 8 -  5)) |
+            ((c & 0x0000FC00) >> (16 - 11)) |
+            ((c & 0x00F80000) >> (24 - 16)));
+  }
+  case LTDC_FMT_ARGB1555: {
+    return (((c & 0x000000F8) >> ( 8 -  5)) |
+            ((c & 0x0000F800) >> (16 - 10)) |
+            ((c & 0x00F80000) >> (24 - 15)) |
+            ((c & 0x80000000) >> (32 - 16)));
+  }
+  case LTDC_FMT_ARGB4444: {
+    return (((c & 0x000000F0) >> ( 8 -  4)) |
+            ((c & 0x0000F000) >> (16 -  8)) |
+            ((c & 0x00F00000) >> (24 - 12)) |
+            ((c & 0xF0000000) >> (32 - 16)));
+  }
+  case LTDC_FMT_L8: {
+    return (c & 0x000000FF);
+  }
+  case LTDC_FMT_AL44: {
+    return (((c & 0x000000F0) >> ( 8 - 4)) |
+            ((c & 0xF0000000) >> (32 - 8)));
+  }
+  case LTDC_FMT_AL88: {
+    return (((c & 0x000000FF) >> ( 8 -  8)) |
+            ((c & 0xFF000000) >> (32 - 16)));
+  }
+  default:
+    osalDbgAssert(false, "invalid format");
+    return 0;
+  }
+}
+
+/**
+ * @brief   Convert to ARGB-8888.
+ * @details Converts color of the specified pixel format to an ARGB-8888 color.
+ *
+ * @param[in] c         color for the source pixel format, left padded with
+ *                      zeros.
+ * @param[in] fmt       source pixel format
+ *
+ * @return              color in ARGB-8888 format
+ *
+ * @api
+ */
+ltdc_color_t ltdcToARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt) {
+
+  switch (fmt) {
+  case LTDC_FMT_ARGB8888: {
+    return c;
+  }
+  case LTDC_FMT_RGB888: {
+    return ((c & 0x00FFFFFF) | 0xFF000000);
+  }
+  case LTDC_FMT_RGB565: {
+    register ltdc_color_t output = 0xFF000000;
+    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);
+    if (c & 0x07E0) output |= (((c & 0x07E0) << (16 - 11)) | 0x00000300);
+    if (c & 0xF800) output |= (((c & 0xF800) << (24 - 16)) | 0x00070000);
+    return output;
+  }
+  case LTDC_FMT_ARGB1555: {
+    register ltdc_color_t output = 0x00000000;
+    if (c & 0x001F) output |= (((c & 0x001F) << ( 8 -  5)) | 0x00000007);
+    if (c & 0x03E0) output |= (((c & 0x03E0) << (16 - 10)) | 0x00000700);
+    if (c & 0x7C00) output |= (((c & 0x7C00) << (24 - 15)) | 0x00070000);
+    if (c & 0x8000) output |= 0xFF000000;
+    return output;
+  }
+  case LTDC_FMT_ARGB4444: {
+    register ltdc_color_t output = 0x00000000;
+    if (c & 0x000F) output |= (((c & 0x000F) << ( 8 -  4)) | 0x0000000F);
+    if (c & 0x00F0) output |= (((c & 0x00F0) << (16 -  8)) | 0x00000F00);
+    if (c & 0x0F00) output |= (((c & 0x0F00) << (24 - 12)) | 0x000F0000);
+    if (c & 0xF000) output |= (((c & 0xF000) << (32 - 16)) | 0x0F000000);
+    return output;
+  }
+  case LTDC_FMT_L8: {
+    return ((c & 0xFF) | 0xFF000000);
+  }
+  case LTDC_FMT_AL44: {
+    register ltdc_color_t output = 0x00000000;
+    if (c & 0x0F) output |= (((c & 0x0F) << ( 8 - 4)) | 0x0000000F);
+    if (c & 0xF0) output |= (((c & 0xF0) << (32 - 8)) | 0x0F000000);
+    return output;
+  }
+  case LTDC_FMT_AL88: {
+    return (((c & 0x00FF) << ( 8 -  8)) |
+            ((c & 0xFF00) << (32 - 16)));
+  }
+  default:
+    osalDbgAssert(false, "invalid format");
+    return 0;
+  }
+}
+
+#endif  /* LTDC_USE_SOFTWARE_CONVERSIONS */
+
+/** @} */
+
+/** @} */
+
+#endif  /* STM32_LTDC_USE_LTDC */
diff --git a/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.h b/os/hal/ports/STM32/LLD/LTDCv1/hal_stm32_ltdc.h
index fdf1f5b..16b38ca 100644
--- a/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.h
+++ b/os/hal/ports/STM32/LLD/LTDCv1/hal_stm32_ltdc.h
@@ -1,736 +1,736 @@
-/*

-    Copyright (C) 2013-2015 Andrea Zoppi

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    stm32_ltdc.h

- * @brief   LCD-TFT Controller Driver.

- *

- * @addtogroup ltdc

- * @{

- */

-

-#ifndef _STM32_LTDC_H_

-#define _STM32_LTDC_H_

-

-/**

- * @brief   Using the LTDC driver.

- */

-#if !defined(STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)

-#define STM32_LTDC_USE_LTDC     (FALSE)

-#endif

-

-#if (TRUE == STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)

-

-/*===========================================================================*/

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/**

- * @name    LTDC enable flags

- * @{

- */

-#define LTDC_EF_ENABLE          (1 <<  0)   /**< LTDC enabled.*/

-#define LTDC_EF_DITHER          (1 << 16)   /**< Dithering enabled.*/

-#define LTDC_EF_PIXCLK_INVERT   (1 << 28)   /**< Inverted pixel clock.*/

-#define LTDC_EF_DATAEN_HIGH     (1 << 29)   /**< Active-high data enable.*/

-#define LTDC_EF_VSYNC_HIGH      (1 << 30)   /**< Active-high vsync.*/

-#define LTDC_EF_HSYNC_HIGH      (1 << 31)   /**< Active-high hsync.*/

-

-#define LTDC_EF_MASK \

-  (LTDC_EF_ENABLE | LTDC_EF_DITHER | LTDC_EF_PIXCLK_INVERT | \

-   LTDC_EF_DATAEN_HIGH | LTDC_EF_VSYNC_HIGH | LTDC_EF_HSYNC_HIGH)

-/** @} */

-

-/**

- * @name    LTDC layer enable flags

- * @{

- */

-#define LTDC_LEF_ENABLE         (1 << 0)    /**< Layer enabled*/

-#define LTDC_LEF_KEYING         (1 << 1)    /**< Color keying enabled.*/

-#define LTDC_LEF_PALETTE        (1 << 4)    /**< Palette enabled.*/

-

-#define LTDC_LEF_MASK \

-  (LTDC_LEF_ENABLE | LTDC_LEF_KEYING | LTDC_LEF_PALETTE)

-/** @} */

-

-/**

- * @name    LTDC pixel formats

- * @{

- */

-#define LTDC_FMT_ARGB8888       (0)         /**< ARGB-8888 format.*/

-#define LTDC_FMT_RGB888         (1)         /**< RGB-888 format.*/

-#define LTDC_FMT_RGB565         (2)         /**< RGB-565 format.*/

-#define LTDC_FMT_ARGB1555       (3)         /**< ARGB-1555 format.*/

-#define LTDC_FMT_ARGB4444       (4)         /**< ARGB-4444 format.*/

-#define LTDC_FMT_L8             (5)         /**< L-8 format.*/

-#define LTDC_FMT_AL44           (6)         /**< AL-44 format.*/

-#define LTDC_FMT_AL88           (7)         /**< AL-88 format.*/

-/** @} */

-

-/**

- * @name    LTDC pixel format aliased raw masks

- * @{

- */

-#define LTDC_XMASK_ARGB8888     (0xFFFFFFFF)  /**< ARGB-8888 aliased mask.*/

-#define LTDC_XMASK_RGB888       (0x00FFFFFF)  /**< RGB-888 aliased mask.*/

-#define LTDC_XMASK_RGB565       (0x00F8FCF8)  /**< RGB-565 aliased mask.*/

-#define LTDC_XMASK_ARGB1555     (0x80F8F8F8)  /**< ARGB-1555 aliased mask.*/

-#define LTDC_XMASK_ARGB4444     (0xF0F0F0F0)  /**< ARGB-4444 aliased mask.*/

-#define LTDC_XMASK_L8           (0x000000FF)  /**< L-8 aliased mask.*/

-#define LTDC_XMASK_AL44         (0xF00000F0)  /**< AL-44 aliased mask.*/

-#define LTDC_XMASK_AL88         (0xFF0000FF)  /**< AL-88 aliased mask.*/

-/** @} */

-

-/**

- * @name    LTDC blending factors

- * @{

- */

-#define LTDC_BLEND_FIX1_FIX2    (0x0405)    /**<      cnst1; 1 -      cnst2 */

-#define LTDC_BLEND_FIX1_MOD2    (0x0407)    /**<      cnst1; 1 - a2 * cnst2 */

-#define LTDC_BLEND_MOD1_FIX2    (0x0605)    /**< a1 * cnst1; 1 -      cnst2 */

-#define LTDC_BLEND_MOD1_MOD2    (0x0607)    /**< a1 * cnst1; 1 - a2 * cnst2 */

-/** @} */

-

-/**

- * @name    LTDC parameter bounds

- * @{

- */

-

-#define LTDC_MIN_SCREEN_WIDTH           (1)

-#define LTDC_MIN_SCREEN_HEIGHT          (1)

-#define LTDC_MAX_SCREEN_WIDTH           (800)

-#define LTDC_MAX_SCREEN_HEIGHT          (600)

-

-#define LTDC_MIN_HSYNC_WIDTH            (1)

-#define LTDC_MIN_VSYNC_HEIGHT           (1)

-#define LTDC_MAX_HSYNC_WIDTH            (1 << 12)

-#define LTDC_MAX_VSYNC_HEIGHT           (1 << 11)

-

-#define LTDC_MIN_HBP_WIDTH              (0)

-#define LTDC_MIN_VBP_HEIGHT             (0)

-#define LTDC_MAX_HBP_WIDTH              (1 << 12)

-#define LTDC_MAX_VBP_HEIGHT             (1 << 11)

-

-#define LTDC_MIN_ACC_HBP_WIDTH          (1)

-#define LTDC_MIN_ACC_VBP_HEIGHT         (1)

-#define LTDC_MAX_ACC_HBP_WIDTH          (1 << 12)

-#define LTDC_MAX_ACC_VBP_HEIGHT         (1 << 11)

-

-#define LTDC_MIN_HFP_WIDTH              (0)

-#define LTDC_MIN_VFP_HEIGHT             (0)

-#define LTDC_MAX_HFP_WIDTH              (1 << 12)

-#define LTDC_MAX_VFP_HEIGHT             (1 << 11)

-

-#define LTDC_MIN_ACTIVE_WIDTH           (0)

-#define LTDC_MIN_ACTIVE_HEIGHT          (0)

-#define LTDC_MAX_ACTIVE_WIDTH           (1 << 12)

-#define LTDC_MAX_ACTIVE_HEIGHT          (1 << 11)

-

-#define LTDC_MIN_ACC_ACTIVE_WIDTH       (1)

-#define LTDC_MIN_ACC_ACTIVE_HEIGHT      (1)

-#define LTDC_MAX_ACC_ACTIVE_WIDTH       (1 << 12)

-#define LTDC_MAX_ACC_ACTIVE_HEIGHT      (1 << 11)

-

-#define LTDC_MIN_ACC_TOTAL_WIDTH        (1)

-#define LTDC_MIN_ACC_TOTAL_HEIGHT       (1)

-#define LTDC_MAX_ACC_TOTAL_WIDTH        (1 << 12)

-#define LTDC_MAX_ACC_TOTAL_HEIGHT       (1 << 11)

-

-#define LTDC_MIN_LINE_INTERRUPT_POS     (0)

-#define LTDC_MAX_LINE_INTERRUPT_POS     ((1 << 11) - 1)

-

-#define LTDC_MIN_WINDOW_HSTART          (0)

-#define LTDC_MIN_WINDOW_HSTART          (0)

-#define LTDC_MAX_WINDOW_HSTOP           ((1 << 12) - 1)

-#define LTDC_MAX_WINDOW_HSTOP           ((1 << 12) - 1)

-

-#define LTDC_MIN_WINDOW_VSTART          (0)

-#define LTDC_MIN_WINDOW_VSTART          (0)

-#define LTDC_MAX_WINDOW_VSTOP           ((1 << 11) - 1)

-#define LTDC_MAX_WINDOW_VSTOP           ((1 << 11) - 1)

-

-#define LTDC_MIN_FRAME_WIDTH_BYTES      (0)

-#define LTDC_MIN_FRAME_HEIGHT_LINES     (0)

-#define LTDC_MIN_FRAME_PITCH_BYTES      (0)

-#define LTDC_MAX_FRAME_WIDTH_BYTES      ((1 << 13) - 1 - 3)

-#define LTDC_MAX_FRAME_HEIGHT_LINES     ((1 << 11) - 1)

-#define LTDC_MAX_FRAME_PITCH_BYTES      ((1 << 13) - 1)

-

-#define LTDC_MIN_PIXFMT_ID              (0)

-#define LTDC_MAX_PIXFMT_ID              (7)

-

-#define LTDC_MAX_PALETTE_LENGTH         (256)

-

-/** @} */

-

-/**

- * @name    LTDC basic ARGB-8888 colors.

- * @{

- */

-/* Microsoft Windows default 16-color palette.*/

-#define LTDC_COLOR_BLACK        (0xFF000000)

-#define LTDC_COLOR_MAROON       (0xFF800000)

-#define LTDC_COLOR_GREEN        (0xFF008000)

-#define LTDC_COLOR_OLIVE        (0xFF808000)

-#define LTDC_COLOR_NAVY         (0xFF000080)

-#define LTDC_COLOR_PURPLE       (0xFF800080)

-#define LTDC_COLOR_TEAL         (0xFF008080)

-#define LTDC_COLOR_SILVER       (0xFFC0C0C0)

-#define LTDC_COLOR_GRAY         (0xFF808080)

-#define LTDC_COLOR_RED          (0xFFFF0000)

-#define LTDC_COLOR_LIME         (0xFF00FF00)

-#define LTDC_COLOR_YELLOW       (0xFFFFFF00)

-#define LTDC_COLOR_BLUE         (0xFF0000FF)

-#define LTDC_COLOR_FUCHSIA      (0xFFFF00FF)

-#define LTDC_COLOR_AQUA         (0xFF00FFFF)

-#define LTDC_COLOR_WHITE        (0xFFFFFFFF)

-/** @} */

-

-/*===========================================================================*/

-/* Driver pre-compile time settings.                                         */

-/*===========================================================================*/

-

-/**

- * @name    LTDC configuration options

- * @{

- */

-

-/**

- * @brief   LTDC event interrupt priority level setting.

- */

-#if !defined(STM32_LTDC_EV_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_LTDC_EV_IRQ_PRIORITY          (11)

-#endif

-

-/**

- * @brief   LTDC error interrupt priority level setting.

- */

-#if !defined(STM32_LTDC_ER_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_LTDC_ER_IRQ_PRIORITY          (11)

-#endif

-

-/**

- * @brief   Enables synchronous APIs.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(LTDC_USE_WAIT) || defined(__DOXYGEN__)

-#define LTDC_USE_WAIT                       (TRUE)

-#endif

-

-/**

- * @brief   Enables the @p ltdcAcquireBus() and @p ltdcReleaseBus() APIs.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(LTDC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

-#define LTDC_USE_MUTUAL_EXCLUSION           (TRUE)

-#endif

-

-/**

- * @brief   Provides software color conversion functions.

- * @note    Disabling this option saves both code and data space.

- */

-#if !defined(LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)

-#define LTDC_USE_SOFTWARE_CONVERSIONS       (TRUE)

-#endif

-

-/**

- * @brief   Enables checks for LTDC functions.

- * @note    Disabling this option saves both code and data space.

- * @note    Disabling checks by ChibiOS will automatically disable LTDC checks.

- */

-#if !defined(LTDC_USE_CHECKS) || defined(__DOXYGEN__)

-#define LTDC_USE_CHECKS                     (TRUE)

-#endif

-

-/** @} */

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-#if (TRUE != STM32_HAS_LTDC)

-#error "LTDC must be present when using the LTDC subsystem"

-#endif

-

-#if (TRUE == STM32_LTDC_USE_LTDC) && (TRUE != STM32_HAS_LTDC)

-#error "LTDC not present in the selected device"

-#endif

-

-#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)

-#if (TRUE != CH_CFG_USE_MUTEXES) && (TRUE != CH_CFG_USE_SEMAPHORES)

-#error "LTDC_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"

-#endif

-#endif

-

-/*===========================================================================*/

-/* Driver data structures and types.                                         */

-/*===========================================================================*/

-

-/* Complex types forwarding.*/

-typedef union ltdc_coloralias_t ltdc_coloralias_t;

-typedef struct ltdc_window_t ltdc_window_t;

-typedef struct ltdc_frame_t ltdc_frame_t;

-typedef struct ltdc_laycfg_t ltdc_laycfg_t;

-typedef struct LTDCConfig LTDCConfig;

-typedef enum ltdc_state_t ltdc_state_t;

-typedef struct LTDCDriver LTDCDriver;

-

-/**

- * @name    LTDC Data types

- * @{

- */

-

-/**

- * @brief   LTDC generic color.

- */

-typedef uint32_t ltdc_color_t;

-

-/**

- * @brief   LTDC color aliases.

- * @detail  Mapped with ARGB-8888, except for luminance (L mapped onto B).

- *          Padding fields are prefixed with <tt>'x'</tt>, and should be clear

- *          (all 0) before compression and set (all 1) after expansion.

- */

-typedef union ltdc_coloralias_t {

-  struct {

-    unsigned  b     :  8;

-    unsigned  g     :  8;

-    unsigned  r     :  8;

-    unsigned  a     :  8;

-  }             argb8888;           /**< Mapped ARGB-8888 bits.*/

-  struct {

-    unsigned  b     :  8;

-    unsigned  g     :  8;

-    unsigned  r     :  8;

-    unsigned  xa    :  8;

-  }             rgb888;             /**< Mapped RGB-888 bits.*/

-  struct {

-    unsigned  xb    :  3;

-    unsigned  b     :  5;

-    unsigned  xg    :  2;

-    unsigned  g     :  6;

-    unsigned  xr    :  3;

-    unsigned  r     :  5;

-    unsigned  xa    :  8;

-  }             rgb565;             /**< Mapped RGB-565 bits.*/

-  struct {

-    unsigned  xb    :  3;

-    unsigned  b     :  5;

-    unsigned  xg    :  3;

-    unsigned  g     :  5;

-    unsigned  xr    :  3;

-    unsigned  r     :  5;

-    unsigned  xa    :  7;

-    unsigned  a     :  1;

-  }             argb1555;           /**< Mapped ARGB-1555 values.*/

-  struct {

-    unsigned  xb    :  4;

-    unsigned  b     :  4;

-    unsigned  xg    :  4;

-    unsigned  g     :  4;

-    unsigned  xr    :  4;

-    unsigned  r     :  4;

-    unsigned  xa    :  4;

-    unsigned  a     :  4;

-  }             argb4444;           /**< Mapped ARGB-4444 values.*/

-  struct {

-    unsigned  l     :  8;

-    unsigned  x     : 16;

-    unsigned  xa    :  8;

-  }             l8;                 /**< Mapped L-8 bits.*/

-  struct {

-    unsigned  xl    :  4;

-    unsigned  l     :  4;

-    unsigned  x     : 16;

-    unsigned  xa    :  4;

-    unsigned  a     :  4;

-  }             al44;               /**< Mapped AL-44 bits.*/

-  struct {

-    unsigned  l     :  8;

-    unsigned  x     : 16;

-    unsigned  a     :  8;

-  }             al88;               /**< Mapped AL-88 bits.*/

-  ltdc_color_t  aliased;            /**< Aliased raw bits.*/

-} ltdc_coloralias_t;

-

-/**

- * @brief   LTDC layer identifier.

- */

-typedef uint32_t ltdc_layerid_t;

-

-/**

- * @brief   LTDC pixel format.

- */

-typedef uint32_t ltdc_pixfmt_t;

-

-/**

- * @brief   LTDC blending factor.

- */

-typedef uint32_t ltdc_blendf_t;

-

-/**

- * @brief   LTDC ISR callback.

- */

-typedef void (*ltdc_isrcb_t)(LTDCDriver *ltdcp);

-

-/**

- * @brief   LTDC window specifications.

- */

-typedef struct ltdc_window_t {

-  uint16_t      hstart;             /**< Horizontal start pixel (left).*/

-  uint16_t      hstop;              /**< Horizontal stop pixel (right).*/

-  uint16_t      vstart;             /**< Vertical start pixel (top).*/

-  uint16_t      vstop;              /**< Vertical stop pixel (bottom).*/

-} ltdc_window_t;

-

-/**

- * @brief   LTDC frame specifications.

- */

-typedef struct ltdc_frame_t {

-  void          *bufferp;           /**< Frame buffer address.*/

-  uint16_t      width;              /**< Frame width, in pixels.*/

-  uint16_t      height;             /**< Frame height, in pixels.*/

-  size_t        pitch;              /**< Line pitch, in bytes.*/

-  ltdc_pixfmt_t fmt;                /**< Pixel format.*/

-} ltdc_frame_t;

-

-/**

- * @brief   LTDC configuration flags.

- */

-typedef uint8_t ltdc_flags_t;

-

-/**

- * @brief   LTDC startup layer configuration.

- */

-typedef struct ltdc_laycfg_t {

-  const ltdc_frame_t  *frame;       /**< Frame buffer specifications.*/

-  const ltdc_window_t *window;      /**< Window specifications.*/

-  ltdc_color_t        def_color;    /**< Default color, ARGB-8888.*/

-  uint8_t             const_alpha;  /**< Constant alpha factor.*/

-  ltdc_color_t        key_color;    /**< Color key.*/

-  const ltdc_color_t  *pal_colors;  /**< Palette colors, or @p NULL.*/

-  uint16_t            pal_length;   /**< Palette length, or @p 0.*/

-  ltdc_blendf_t       blending;     /**< Blending factors.*/

-  ltdc_flags_t        flags;        /**< Layer configuration flags.*/

-} ltdc_laycfg_t;

-

-/**

- * @brief   LTDC driver configuration.

- */

-typedef struct LTDCConfig {

-  /* Display specifications.*/

-  uint16_t      screen_width;       /**< Screen pixel width.*/

-  uint16_t      screen_height;      /**< Screen pixel height.*/

-  uint16_t      hsync_width;        /**< Horizontal sync pixel width.*/

-  uint16_t      vsync_height;       /**< Vertical sync pixel height.*/

-  uint16_t      hbp_width;          /**< Horizontal back porch pixel width.*/

-  uint16_t      vbp_height;         /**< Vertical back porch pixel height.*/

-  uint16_t      hfp_width;          /**< Horizontal front porch pixel width.*/

-  uint16_t      vfp_height;         /**< Vertical front porch pixel height.*/

-  ltdc_flags_t  flags;              /**< Driver configuration flags.*/

-

-  /* ISR callbacks.*/

-  ltdc_isrcb_t  line_isr;           /**< Line Interrupt ISR, or @p NULL.*/

-  ltdc_isrcb_t  rr_isr;             /**< Register Reload ISR, or @p NULL.*/

-  ltdc_isrcb_t  fuerr_isr;          /**< FIFO Underrun ISR, or @p NULL.*/

-  ltdc_isrcb_t  terr_isr;           /**< Transfer Error ISR, or @p NULL.*/

-

-  /* Layer and color settings.*/

-  ltdc_color_t  clear_color;        /**< Clear screen color, RGB-888.*/

-  const ltdc_laycfg_t *bg_laycfg;   /**< Background layer specs, or @p NULL.*/

-  const ltdc_laycfg_t *fg_laycfg;   /**< Foreground layer specs, or @p NULL.*/

-} LTDCConfig;

-

-/**

- * @brief   LTDC driver state.

- */

-typedef enum ltdc_state_t {

-  LTDC_UNINIT   = (0),              /**< Not initialized.*/

-  LTDC_STOP     = (1),              /**< Stopped.*/

-  LTDC_READY    = (2),              /**< Ready.*/

-  LTDC_ACTIVE   = (3),              /**< Executing commands.*/

-} ltdc_state_t;

-

-/**

- * @brief   LTDC driver.

- */

-typedef struct LTDCDriver {

-  ltdc_state_t      state;          /**< Driver state.*/

-  const LTDCConfig  *config;        /**< Driver configuration.*/

-

-  /* Handy computations.*/

-  ltdc_window_t     active_window;  /**< Active window coordinates.*/

-

-  /* Multithreading stuff.*/

-#if (TRUE == LTDC_USE_WAIT) || defined(__DOXYGEN__)

-  thread_t          *thread;        /**< Waiting thread.*/

-#endif  /* LTDC_USE_WAIT */

-#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)

-#if (TRUE == CH_CFG_USE_MUTEXES)

-  mutex_t           lock;           /**< Multithreading lock.*/

-#elif (TRUE == CH_CFG_USE_SEMAPHORES)

-  semaphore_t       lock;           /**< Multithreading lock.*/

-#endif

-#endif  /* LTDC_USE_MUTUAL_EXCLUSION */

-} LTDCDriver;

-

-/** @} */

-

-/*===========================================================================*/

-/* Driver macros.                                                            */

-/*===========================================================================*/

-

-/**

- * @brief   Makes an ARGB-8888 value from byte components.

- *

- * @param[in] a         alpha byte component

- * @param[in] r         red byte component

- * @param[in] g         green byte component

- * @param[in] b         blue byte component

- *

- * @return              color in ARGB-8888 format

- *

- * @api

- */

-#define ltdcMakeARGB8888(a, r, g, b) \

-  ((((ltdc_color_t)(a) & 0xFF) << 24) | \

-   (((ltdc_color_t)(r) & 0xFF) << 16) | \

-   (((ltdc_color_t)(g) & 0xFF) <<  8) | \

-   (((ltdc_color_t)(b) & 0xFF) <<  0))

-

-/**

- * @brief   Compute bytes per pixel.

- * @details Computes the bytes per pixel for the specified pixel format.

- *          Rounds to the ceiling.

- *

- * @param[in] fmt       pixel format

- *

- * @return              bytes per pixel

- *

- * @api

- */

-#define ltdcBytesPerPixel(fmt) \

-  ((ltdcBitsPerPixel(fmt) + 7) >> 3)

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-extern LTDCDriver LTDCD1;

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  /* Driver methods.*/

-  void ltdcInit(void);

-  void ltdcObjectInit(LTDCDriver *ltdcp);

-  ltdc_state_t ltdcGetStateI(LTDCDriver *ltdcp);

-  ltdc_state_t ltdcGetState(LTDCDriver *ltdcp);

-  void ltdcStart(LTDCDriver *ltdcp, const LTDCConfig *configp);

-  void ltdcStop(LTDCDriver *ltdcp);

-#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)

-  void ltdcAcquireBusS(LTDCDriver *ltdcp);

-  void ltdcAcquireBus(LTDCDriver *ltdcp);

-  void ltdcReleaseBusS(LTDCDriver *ltdcp);

-  void ltdcReleaseBus(LTDCDriver *ltdcp);

-#endif  /* LTDC_USE_MUTUAL_EXCLUSION */

-

-  /* Global methods.*/

-  ltdc_flags_t ltdcGetEnableFlagsI(LTDCDriver *ltdcp);

-  ltdc_flags_t ltdcGetEnableFlags(LTDCDriver *ltdcp);

-  void ltdcSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  void ltdcSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  bool ltdcIsReloadingI(LTDCDriver *ltdcp);

-  bool ltdcIsReloading(LTDCDriver *ltdcp);

-  void ltdcStartReloadI(LTDCDriver *ltdcp, bool immediately);

-  void ltdcStartReload(LTDCDriver *ltdcp, bool immediately);

-  void ltdcReloadS(LTDCDriver *ltdcp, bool immediately);

-  void ltdcReload(LTDCDriver *ltdcp, bool immediately);

-  bool ltdcIsDitheringEnabledI(LTDCDriver *ltdcp);

-  bool ltdcIsDitheringEnabled(LTDCDriver *ltdcp);

-  void ltdcEnableDitheringI(LTDCDriver *ltdcp);

-  void ltdcEnableDithering(LTDCDriver *ltdcp);

-  void ltdcDisableDitheringI(LTDCDriver *ltdcp);

-  void ltdcDisableDithering(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcGetClearColorI(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcGetClearColor(LTDCDriver *ltdcp);

-  void ltdcSetClearColorI(LTDCDriver *ltdcp, ltdc_color_t c);

-  void ltdcSetClearColor(LTDCDriver *ltdcp, ltdc_color_t c);

-  uint16_t ltdcGetLineInterruptPosI(LTDCDriver *ltdcp);

-  uint16_t ltdcGetLineInterruptPos(LTDCDriver *ltdcp);

-  void ltdcSetLineInterruptPosI(LTDCDriver *ltdcp, uint16_t line);

-  void ltdcSetLineInterruptPos(LTDCDriver *ltdcp, uint16_t line);

-  bool ltdcIsLineInterruptEnabledI(LTDCDriver *ltdcp);

-  bool ltdcIsLineInterruptEnabled(LTDCDriver *ltdcp);

-  void ltdcEnableLineInterruptI(LTDCDriver *ltdcp);

-  void ltdcEnableLineInterrupt(LTDCDriver *ltdcp);

-  void ltdcDisableLineInterruptI(LTDCDriver *ltdcp);

-  void ltdcDisableLineInterrupt(LTDCDriver *ltdcp);

-  void ltdcGetCurrentPosI(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp);

-  void ltdcGetCurrentPos(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp);

-

-  /* Background layer methods.*/

-  ltdc_flags_t ltdcBgGetEnableFlagsI(LTDCDriver *ltdcp);

-  ltdc_flags_t ltdcBgGetEnableFlags(LTDCDriver *ltdcp);

-  void ltdcBgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  void ltdcBgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  bool ltdcBgIsEnabledI(LTDCDriver *ltdcp);

-  bool ltdcBgIsEnabled(LTDCDriver *ltdcp);

-  void ltdcBgEnableI(LTDCDriver *ltdcp);

-  void ltdcBgEnable(LTDCDriver *ltdcp);

-  void ltdcBgDisableI(LTDCDriver *ltdcp);

-  void ltdcBgDisable(LTDCDriver *ltdcp);

-  bool ltdcBgIsPaletteEnabledI(LTDCDriver *ltdcp);

-  bool ltdcBgIsPaletteEnabled(LTDCDriver *ltdcp);

-  void ltdcBgEnablePaletteI(LTDCDriver *ltdcp);

-  void ltdcBgEnablePalette(LTDCDriver *ltdcp);

-  void ltdcBgDisablePaletteI(LTDCDriver *ltdcp);

-  void ltdcBgDisablePalette(LTDCDriver *ltdcp);

-  void ltdcBgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);

-  void ltdcBgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);

-  void ltdcBgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                         uint16_t length);

-  void ltdcBgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                        uint16_t length);

-  ltdc_pixfmt_t ltdcBgGetPixelFormatI(LTDCDriver *ltdcp);

-  ltdc_pixfmt_t ltdcBgGetPixelFormat(LTDCDriver *ltdcp);

-  void ltdcBgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);

-  void ltdcBgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);

-  bool ltdcBgIsKeyingEnabledI(LTDCDriver *ltdcp);

-  bool ltdcBgIsKeyingEnabled(LTDCDriver *ltdcp);

-  void ltdcBgEnableKeyingI(LTDCDriver *ltdcp);

-  void ltdcBgEnableKeying(LTDCDriver *ltdcp);

-  void ltdcBgDisableKeyingI(LTDCDriver *ltdcp);

-  void ltdcBgDisableKeying(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcBgGetKeyingColorI(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcBgGetKeyingColor(LTDCDriver *ltdcp);

-  void ltdcBgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c);

-  void ltdcBgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c);

-  uint8_t ltdcBgGetConstantAlphaI(LTDCDriver *ltdcp);

-  uint8_t ltdcBgGetConstantAlpha(LTDCDriver *ltdcp);

-  void ltdcBgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a);

-  void ltdcBgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a);

-  ltdc_color_t ltdcBgGetDefaultColorI(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcBgGetDefaultColor(LTDCDriver *ltdcp);

-  void ltdcBgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c);

-  void ltdcBgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c);

-  ltdc_blendf_t ltdcBgGetBlendingFactorsI(LTDCDriver *ltdcp);

-  ltdc_blendf_t ltdcBgGetBlendingFactors(LTDCDriver *ltdcp);

-  void ltdcBgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf);

-  void ltdcBgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf);

-  void ltdcBgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp);

-  void ltdcBgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp);

-  void ltdcBgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp);

-  void ltdcBgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp);

-  void ltdcBgSetInvalidWindowI(LTDCDriver *ltdcp);

-  void ltdcBgSetInvalidWindow(LTDCDriver *ltdcp);

-  void ltdcBgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep);

-  void ltdcBgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep);

-  void ltdcBgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep);

-  void ltdcBgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep);

-  void *ltdcBgGetFrameAddressI(LTDCDriver *ltdcp);

-  void *ltdcBgGetFrameAddress(LTDCDriver *ltdcp);

-  void ltdcBgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp);

-  void ltdcBgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp);

-  void ltdcBgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);

-  void ltdcBgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);

-  void ltdcBgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);

-  void ltdcBgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);

-

-  /* Foreground layer methods.*/

-  ltdc_flags_t ltdcFgGetEnableFlagsI(LTDCDriver *ltdcp);

-  ltdc_flags_t ltdcFgGetEnableFlags(LTDCDriver *ltdcp);

-  void ltdcFgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  void ltdcFgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);

-  bool ltdcFgIsEnabledI(LTDCDriver *ltdcp);

-  bool ltdcFgIsEnabled(LTDCDriver *ltdcp);

-  void ltdcFgEnableI(LTDCDriver *ltdcp);

-  void ltdcFgEnable(LTDCDriver *ltdcp);

-  void ltdcFgDisableI(LTDCDriver *ltdcp);

-  void ltdcFgDisable(LTDCDriver *ltdcp);

-  bool ltdcFgIsPaletteEnabledI(LTDCDriver *ltdcp);

-  bool ltdcFgIsPaletteEnabled(LTDCDriver *ltdcp);

-  void ltdcFgEnablePaletteI(LTDCDriver *ltdcp);

-  void ltdcFgEnablePalette(LTDCDriver *ltdcp);

-  void ltdcFgDisablePaletteI(LTDCDriver *ltdcp);

-  void ltdcFgDisablePalette(LTDCDriver *ltdcp);

-  void ltdcFgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);

-  void ltdcFgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);

-  void ltdcFgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                         uint16_t length);

-  void ltdcFgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],

-                        uint16_t length);

-  ltdc_pixfmt_t ltdcFgGetPixelFormatI(LTDCDriver *ltdcp);

-  ltdc_pixfmt_t ltdcFgGetPixelFormat(LTDCDriver *ltdcp);

-  void ltdcFgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);

-  void ltdcFgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);

-  bool ltdcFgIsKeyingEnabledI(LTDCDriver *ltdcp);

-  bool ltdcFgIsKeyingEnabled(LTDCDriver *ltdcp);

-  void ltdcFgEnableKeyingI(LTDCDriver *ltdcp);

-  void ltdcFgEnableKeying(LTDCDriver *ltdcp);

-  void ltdcFgDisableKeyingI(LTDCDriver *ltdcp);

-  void ltdcFgDisableKeying(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcFgGetKeyingColorI(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcFgGetKeyingColor(LTDCDriver *ltdcp);

-  void ltdcFgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c);

-  void ltdcFgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c);

-  uint8_t ltdcFgGetConstantAlphaI(LTDCDriver *ltdcp);

-  uint8_t ltdcFgGetConstantAlpha(LTDCDriver *ltdcp);

-  void ltdcFgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a);

-  void ltdcFgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a);

-  ltdc_color_t ltdcFgGetDefaultColorI(LTDCDriver *ltdcp);

-  ltdc_color_t ltdcFgGetDefaultColor(LTDCDriver *ltdcp);

-  void ltdcFgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c);

-  void ltdcFgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c);

-  ltdc_blendf_t ltdcFgGetBlendingFactorsI(LTDCDriver *ltdcp);

-  ltdc_blendf_t ltdcFgGetBlendingFactors(LTDCDriver *ltdcp);

-  void ltdcFgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf);

-  void ltdcFgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf);

-  void ltdcFgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp);

-  void ltdcFgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp);

-  void ltdcFgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp);

-  void ltdcFgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp);

-  void ltdcFgSetInvalidWindowI(LTDCDriver *ltdcp);

-  void ltdcFgSetInvalidWindow(LTDCDriver *ltdcp);

-  void ltdcFgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep);

-  void ltdcFgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep);

-  void ltdcFgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep);

-  void ltdcFgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep);

-  void *ltdcFgGetFrameAddressI(LTDCDriver *ltdcp);

-  void *ltdcFgGetFrameAddress(LTDCDriver *ltdcp);

-  void ltdcFgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp);

-  void ltdcFgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp);

-  void ltdcFgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);

-  void ltdcFgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);

-  void ltdcFgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);

-  void ltdcFgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);

-

-  /* Helper functions.*/

-  size_t ltdcBitsPerPixel(ltdc_pixfmt_t fmt);

-#if (TRUE == LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)

-  ltdc_color_t ltdcFromARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt);

-  ltdc_color_t ltdcToARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt);

-#endif  /* LTDC_USE_SOFTWARE_CONVERSIONS */

-

-#ifdef __cplusplus

-}

-#endif

-

-#endif  /* STM32_LTDC_USE_LTDC */

-

-#endif  /* _STM32_LTDC_H_ */

-

-/** @} */

+/*
+    Copyright (C) 2013-2015 Andrea Zoppi
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    stm32_ltdc.h
+ * @brief   LCD-TFT Controller Driver.
+ *
+ * @addtogroup ltdc
+ * @{
+ */
+
+#ifndef _STM32_LTDC_H_
+#define _STM32_LTDC_H_
+
+/**
+ * @brief   Using the LTDC driver.
+ */
+#if !defined(STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)
+#define STM32_LTDC_USE_LTDC     (FALSE)
+#endif
+
+#if (TRUE == STM32_LTDC_USE_LTDC) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LTDC enable flags
+ * @{
+ */
+#define LTDC_EF_ENABLE          (1 <<  0)   /**< LTDC enabled.*/
+#define LTDC_EF_DITHER          (1 << 16)   /**< Dithering enabled.*/
+#define LTDC_EF_PIXCLK_INVERT   (1 << 28)   /**< Inverted pixel clock.*/
+#define LTDC_EF_DATAEN_HIGH     (1 << 29)   /**< Active-high data enable.*/
+#define LTDC_EF_VSYNC_HIGH      (1 << 30)   /**< Active-high vsync.*/
+#define LTDC_EF_HSYNC_HIGH      (1 << 31)   /**< Active-high hsync.*/
+
+#define LTDC_EF_MASK \
+  (LTDC_EF_ENABLE | LTDC_EF_DITHER | LTDC_EF_PIXCLK_INVERT | \
+   LTDC_EF_DATAEN_HIGH | LTDC_EF_VSYNC_HIGH | LTDC_EF_HSYNC_HIGH)
+/** @} */
+
+/**
+ * @name    LTDC layer enable flags
+ * @{
+ */
+#define LTDC_LEF_ENABLE         (1 << 0)    /**< Layer enabled*/
+#define LTDC_LEF_KEYING         (1 << 1)    /**< Color keying enabled.*/
+#define LTDC_LEF_PALETTE        (1 << 4)    /**< Palette enabled.*/
+
+#define LTDC_LEF_MASK \
+  (LTDC_LEF_ENABLE | LTDC_LEF_KEYING | LTDC_LEF_PALETTE)
+/** @} */
+
+/**
+ * @name    LTDC pixel formats
+ * @{
+ */
+#define LTDC_FMT_ARGB8888       (0)         /**< ARGB-8888 format.*/
+#define LTDC_FMT_RGB888         (1)         /**< RGB-888 format.*/
+#define LTDC_FMT_RGB565         (2)         /**< RGB-565 format.*/
+#define LTDC_FMT_ARGB1555       (3)         /**< ARGB-1555 format.*/
+#define LTDC_FMT_ARGB4444       (4)         /**< ARGB-4444 format.*/
+#define LTDC_FMT_L8             (5)         /**< L-8 format.*/
+#define LTDC_FMT_AL44           (6)         /**< AL-44 format.*/
+#define LTDC_FMT_AL88           (7)         /**< AL-88 format.*/
+/** @} */
+
+/**
+ * @name    LTDC pixel format aliased raw masks
+ * @{
+ */
+#define LTDC_XMASK_ARGB8888     (0xFFFFFFFF)  /**< ARGB-8888 aliased mask.*/
+#define LTDC_XMASK_RGB888       (0x00FFFFFF)  /**< RGB-888 aliased mask.*/
+#define LTDC_XMASK_RGB565       (0x00F8FCF8)  /**< RGB-565 aliased mask.*/
+#define LTDC_XMASK_ARGB1555     (0x80F8F8F8)  /**< ARGB-1555 aliased mask.*/
+#define LTDC_XMASK_ARGB4444     (0xF0F0F0F0)  /**< ARGB-4444 aliased mask.*/
+#define LTDC_XMASK_L8           (0x000000FF)  /**< L-8 aliased mask.*/
+#define LTDC_XMASK_AL44         (0xF00000F0)  /**< AL-44 aliased mask.*/
+#define LTDC_XMASK_AL88         (0xFF0000FF)  /**< AL-88 aliased mask.*/
+/** @} */
+
+/**
+ * @name    LTDC blending factors
+ * @{
+ */
+#define LTDC_BLEND_FIX1_FIX2    (0x0405)    /**<      cnst1; 1 -      cnst2 */
+#define LTDC_BLEND_FIX1_MOD2    (0x0407)    /**<      cnst1; 1 - a2 * cnst2 */
+#define LTDC_BLEND_MOD1_FIX2    (0x0605)    /**< a1 * cnst1; 1 -      cnst2 */
+#define LTDC_BLEND_MOD1_MOD2    (0x0607)    /**< a1 * cnst1; 1 - a2 * cnst2 */
+/** @} */
+
+/**
+ * @name    LTDC parameter bounds
+ * @{
+ */
+
+#define LTDC_MIN_SCREEN_WIDTH           (1)
+#define LTDC_MIN_SCREEN_HEIGHT          (1)
+#define LTDC_MAX_SCREEN_WIDTH           (800)
+#define LTDC_MAX_SCREEN_HEIGHT          (600)
+
+#define LTDC_MIN_HSYNC_WIDTH            (1)
+#define LTDC_MIN_VSYNC_HEIGHT           (1)
+#define LTDC_MAX_HSYNC_WIDTH            (1 << 12)
+#define LTDC_MAX_VSYNC_HEIGHT           (1 << 11)
+
+#define LTDC_MIN_HBP_WIDTH              (0)
+#define LTDC_MIN_VBP_HEIGHT             (0)
+#define LTDC_MAX_HBP_WIDTH              (1 << 12)
+#define LTDC_MAX_VBP_HEIGHT             (1 << 11)
+
+#define LTDC_MIN_ACC_HBP_WIDTH          (1)
+#define LTDC_MIN_ACC_VBP_HEIGHT         (1)
+#define LTDC_MAX_ACC_HBP_WIDTH          (1 << 12)
+#define LTDC_MAX_ACC_VBP_HEIGHT         (1 << 11)
+
+#define LTDC_MIN_HFP_WIDTH              (0)
+#define LTDC_MIN_VFP_HEIGHT             (0)
+#define LTDC_MAX_HFP_WIDTH              (1 << 12)
+#define LTDC_MAX_VFP_HEIGHT             (1 << 11)
+
+#define LTDC_MIN_ACTIVE_WIDTH           (0)
+#define LTDC_MIN_ACTIVE_HEIGHT          (0)
+#define LTDC_MAX_ACTIVE_WIDTH           (1 << 12)
+#define LTDC_MAX_ACTIVE_HEIGHT          (1 << 11)
+
+#define LTDC_MIN_ACC_ACTIVE_WIDTH       (1)
+#define LTDC_MIN_ACC_ACTIVE_HEIGHT      (1)
+#define LTDC_MAX_ACC_ACTIVE_WIDTH       (1 << 12)
+#define LTDC_MAX_ACC_ACTIVE_HEIGHT      (1 << 11)
+
+#define LTDC_MIN_ACC_TOTAL_WIDTH        (1)
+#define LTDC_MIN_ACC_TOTAL_HEIGHT       (1)
+#define LTDC_MAX_ACC_TOTAL_WIDTH        (1 << 12)
+#define LTDC_MAX_ACC_TOTAL_HEIGHT       (1 << 11)
+
+#define LTDC_MIN_LINE_INTERRUPT_POS     (0)
+#define LTDC_MAX_LINE_INTERRUPT_POS     ((1 << 11) - 1)
+
+#define LTDC_MIN_WINDOW_HSTART          (0)
+#define LTDC_MIN_WINDOW_HSTART          (0)
+#define LTDC_MAX_WINDOW_HSTOP           ((1 << 12) - 1)
+#define LTDC_MAX_WINDOW_HSTOP           ((1 << 12) - 1)
+
+#define LTDC_MIN_WINDOW_VSTART          (0)
+#define LTDC_MIN_WINDOW_VSTART          (0)
+#define LTDC_MAX_WINDOW_VSTOP           ((1 << 11) - 1)
+#define LTDC_MAX_WINDOW_VSTOP           ((1 << 11) - 1)
+
+#define LTDC_MIN_FRAME_WIDTH_BYTES      (0)
+#define LTDC_MIN_FRAME_HEIGHT_LINES     (0)
+#define LTDC_MIN_FRAME_PITCH_BYTES      (0)
+#define LTDC_MAX_FRAME_WIDTH_BYTES      ((1 << 13) - 1 - 3)
+#define LTDC_MAX_FRAME_HEIGHT_LINES     ((1 << 11) - 1)
+#define LTDC_MAX_FRAME_PITCH_BYTES      ((1 << 13) - 1)
+
+#define LTDC_MIN_PIXFMT_ID              (0)
+#define LTDC_MAX_PIXFMT_ID              (7)
+
+#define LTDC_MAX_PALETTE_LENGTH         (256)
+
+/** @} */
+
+/**
+ * @name    LTDC basic ARGB-8888 colors.
+ * @{
+ */
+/* Microsoft Windows default 16-color palette.*/
+#define LTDC_COLOR_BLACK        (0xFF000000)
+#define LTDC_COLOR_MAROON       (0xFF800000)
+#define LTDC_COLOR_GREEN        (0xFF008000)
+#define LTDC_COLOR_OLIVE        (0xFF808000)
+#define LTDC_COLOR_NAVY         (0xFF000080)
+#define LTDC_COLOR_PURPLE       (0xFF800080)
+#define LTDC_COLOR_TEAL         (0xFF008080)
+#define LTDC_COLOR_SILVER       (0xFFC0C0C0)
+#define LTDC_COLOR_GRAY         (0xFF808080)
+#define LTDC_COLOR_RED          (0xFFFF0000)
+#define LTDC_COLOR_LIME         (0xFF00FF00)
+#define LTDC_COLOR_YELLOW       (0xFFFFFF00)
+#define LTDC_COLOR_BLUE         (0xFF0000FF)
+#define LTDC_COLOR_FUCHSIA      (0xFFFF00FF)
+#define LTDC_COLOR_AQUA         (0xFF00FFFF)
+#define LTDC_COLOR_WHITE        (0xFFFFFFFF)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LTDC configuration options
+ * @{
+ */
+
+/**
+ * @brief   LTDC event interrupt priority level setting.
+ */
+#if !defined(STM32_LTDC_EV_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_LTDC_EV_IRQ_PRIORITY          (11)
+#endif
+
+/**
+ * @brief   LTDC error interrupt priority level setting.
+ */
+#if !defined(STM32_LTDC_ER_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_LTDC_ER_IRQ_PRIORITY          (11)
+#endif
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(LTDC_USE_WAIT) || defined(__DOXYGEN__)
+#define LTDC_USE_WAIT                       (TRUE)
+#endif
+
+/**
+ * @brief   Enables the @p ltdcAcquireBus() and @p ltdcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(LTDC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define LTDC_USE_MUTUAL_EXCLUSION           (TRUE)
+#endif
+
+/**
+ * @brief   Provides software color conversion functions.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)
+#define LTDC_USE_SOFTWARE_CONVERSIONS       (TRUE)
+#endif
+
+/**
+ * @brief   Enables checks for LTDC functions.
+ * @note    Disabling this option saves both code and data space.
+ * @note    Disabling checks by ChibiOS will automatically disable LTDC checks.
+ */
+#if !defined(LTDC_USE_CHECKS) || defined(__DOXYGEN__)
+#define LTDC_USE_CHECKS                     (TRUE)
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if (TRUE != STM32_HAS_LTDC)
+#error "LTDC must be present when using the LTDC subsystem"
+#endif
+
+#if (TRUE == STM32_LTDC_USE_LTDC) && (TRUE != STM32_HAS_LTDC)
+#error "LTDC not present in the selected device"
+#endif
+
+#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)
+#if (TRUE != CH_CFG_USE_MUTEXES) && (TRUE != CH_CFG_USE_SEMAPHORES)
+#error "LTDC_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"
+#endif
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/* Complex types forwarding.*/
+typedef union ltdc_coloralias_t ltdc_coloralias_t;
+typedef struct ltdc_window_t ltdc_window_t;
+typedef struct ltdc_frame_t ltdc_frame_t;
+typedef struct ltdc_laycfg_t ltdc_laycfg_t;
+typedef struct LTDCConfig LTDCConfig;
+typedef enum ltdc_state_t ltdc_state_t;
+typedef struct LTDCDriver LTDCDriver;
+
+/**
+ * @name    LTDC Data types
+ * @{
+ */
+
+/**
+ * @brief   LTDC generic color.
+ */
+typedef uint32_t ltdc_color_t;
+
+/**
+ * @brief   LTDC color aliases.
+ * @detail  Mapped with ARGB-8888, except for luminance (L mapped onto B).
+ *          Padding fields are prefixed with <tt>'x'</tt>, and should be clear
+ *          (all 0) before compression and set (all 1) after expansion.
+ */
+typedef union ltdc_coloralias_t {
+  struct {
+    unsigned  b     :  8;
+    unsigned  g     :  8;
+    unsigned  r     :  8;
+    unsigned  a     :  8;
+  }             argb8888;           /**< Mapped ARGB-8888 bits.*/
+  struct {
+    unsigned  b     :  8;
+    unsigned  g     :  8;
+    unsigned  r     :  8;
+    unsigned  xa    :  8;
+  }             rgb888;             /**< Mapped RGB-888 bits.*/
+  struct {
+    unsigned  xb    :  3;
+    unsigned  b     :  5;
+    unsigned  xg    :  2;
+    unsigned  g     :  6;
+    unsigned  xr    :  3;
+    unsigned  r     :  5;
+    unsigned  xa    :  8;
+  }             rgb565;             /**< Mapped RGB-565 bits.*/
+  struct {
+    unsigned  xb    :  3;
+    unsigned  b     :  5;
+    unsigned  xg    :  3;
+    unsigned  g     :  5;
+    unsigned  xr    :  3;
+    unsigned  r     :  5;
+    unsigned  xa    :  7;
+    unsigned  a     :  1;
+  }             argb1555;           /**< Mapped ARGB-1555 values.*/
+  struct {
+    unsigned  xb    :  4;
+    unsigned  b     :  4;
+    unsigned  xg    :  4;
+    unsigned  g     :  4;
+    unsigned  xr    :  4;
+    unsigned  r     :  4;
+    unsigned  xa    :  4;
+    unsigned  a     :  4;
+  }             argb4444;           /**< Mapped ARGB-4444 values.*/
+  struct {
+    unsigned  l     :  8;
+    unsigned  x     : 16;
+    unsigned  xa    :  8;
+  }             l8;                 /**< Mapped L-8 bits.*/
+  struct {
+    unsigned  xl    :  4;
+    unsigned  l     :  4;
+    unsigned  x     : 16;
+    unsigned  xa    :  4;
+    unsigned  a     :  4;
+  }             al44;               /**< Mapped AL-44 bits.*/
+  struct {
+    unsigned  l     :  8;
+    unsigned  x     : 16;
+    unsigned  a     :  8;
+  }             al88;               /**< Mapped AL-88 bits.*/
+  ltdc_color_t  aliased;            /**< Aliased raw bits.*/
+} ltdc_coloralias_t;
+
+/**
+ * @brief   LTDC layer identifier.
+ */
+typedef uint32_t ltdc_layerid_t;
+
+/**
+ * @brief   LTDC pixel format.
+ */
+typedef uint32_t ltdc_pixfmt_t;
+
+/**
+ * @brief   LTDC blending factor.
+ */
+typedef uint32_t ltdc_blendf_t;
+
+/**
+ * @brief   LTDC ISR callback.
+ */
+typedef void (*ltdc_isrcb_t)(LTDCDriver *ltdcp);
+
+/**
+ * @brief   LTDC window specifications.
+ */
+typedef struct ltdc_window_t {
+  uint16_t      hstart;             /**< Horizontal start pixel (left).*/
+  uint16_t      hstop;              /**< Horizontal stop pixel (right).*/
+  uint16_t      vstart;             /**< Vertical start pixel (top).*/
+  uint16_t      vstop;              /**< Vertical stop pixel (bottom).*/
+} ltdc_window_t;
+
+/**
+ * @brief   LTDC frame specifications.
+ */
+typedef struct ltdc_frame_t {
+  void          *bufferp;           /**< Frame buffer address.*/
+  uint16_t      width;              /**< Frame width, in pixels.*/
+  uint16_t      height;             /**< Frame height, in pixels.*/
+  size_t        pitch;              /**< Line pitch, in bytes.*/
+  ltdc_pixfmt_t fmt;                /**< Pixel format.*/
+} ltdc_frame_t;
+
+/**
+ * @brief   LTDC configuration flags.
+ */
+typedef uint8_t ltdc_flags_t;
+
+/**
+ * @brief   LTDC startup layer configuration.
+ */
+typedef struct ltdc_laycfg_t {
+  const ltdc_frame_t  *frame;       /**< Frame buffer specifications.*/
+  const ltdc_window_t *window;      /**< Window specifications.*/
+  ltdc_color_t        def_color;    /**< Default color, ARGB-8888.*/
+  uint8_t             const_alpha;  /**< Constant alpha factor.*/
+  ltdc_color_t        key_color;    /**< Color key.*/
+  const ltdc_color_t  *pal_colors;  /**< Palette colors, or @p NULL.*/
+  uint16_t            pal_length;   /**< Palette length, or @p 0.*/
+  ltdc_blendf_t       blending;     /**< Blending factors.*/
+  ltdc_flags_t        flags;        /**< Layer configuration flags.*/
+} ltdc_laycfg_t;
+
+/**
+ * @brief   LTDC driver configuration.
+ */
+typedef struct LTDCConfig {
+  /* Display specifications.*/
+  uint16_t      screen_width;       /**< Screen pixel width.*/
+  uint16_t      screen_height;      /**< Screen pixel height.*/
+  uint16_t      hsync_width;        /**< Horizontal sync pixel width.*/
+  uint16_t      vsync_height;       /**< Vertical sync pixel height.*/
+  uint16_t      hbp_width;          /**< Horizontal back porch pixel width.*/
+  uint16_t      vbp_height;         /**< Vertical back porch pixel height.*/
+  uint16_t      hfp_width;          /**< Horizontal front porch pixel width.*/
+  uint16_t      vfp_height;         /**< Vertical front porch pixel height.*/
+  ltdc_flags_t  flags;              /**< Driver configuration flags.*/
+
+  /* ISR callbacks.*/
+  ltdc_isrcb_t  line_isr;           /**< Line Interrupt ISR, or @p NULL.*/
+  ltdc_isrcb_t  rr_isr;             /**< Register Reload ISR, or @p NULL.*/
+  ltdc_isrcb_t  fuerr_isr;          /**< FIFO Underrun ISR, or @p NULL.*/
+  ltdc_isrcb_t  terr_isr;           /**< Transfer Error ISR, or @p NULL.*/
+
+  /* Layer and color settings.*/
+  ltdc_color_t  clear_color;        /**< Clear screen color, RGB-888.*/
+  const ltdc_laycfg_t *bg_laycfg;   /**< Background layer specs, or @p NULL.*/
+  const ltdc_laycfg_t *fg_laycfg;   /**< Foreground layer specs, or @p NULL.*/
+} LTDCConfig;
+
+/**
+ * @brief   LTDC driver state.
+ */
+typedef enum ltdc_state_t {
+  LTDC_UNINIT   = (0),              /**< Not initialized.*/
+  LTDC_STOP     = (1),              /**< Stopped.*/
+  LTDC_READY    = (2),              /**< Ready.*/
+  LTDC_ACTIVE   = (3),              /**< Executing commands.*/
+} ltdc_state_t;
+
+/**
+ * @brief   LTDC driver.
+ */
+typedef struct LTDCDriver {
+  ltdc_state_t      state;          /**< Driver state.*/
+  const LTDCConfig  *config;        /**< Driver configuration.*/
+
+  /* Handy computations.*/
+  ltdc_window_t     active_window;  /**< Active window coordinates.*/
+
+  /* Multithreading stuff.*/
+#if (TRUE == LTDC_USE_WAIT) || defined(__DOXYGEN__)
+  thread_t          *thread;        /**< Waiting thread.*/
+#endif  /* LTDC_USE_WAIT */
+#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)
+#if (TRUE == CH_CFG_USE_MUTEXES)
+  mutex_t           lock;           /**< Multithreading lock.*/
+#elif (TRUE == CH_CFG_USE_SEMAPHORES)
+  semaphore_t       lock;           /**< Multithreading lock.*/
+#endif
+#endif  /* LTDC_USE_MUTUAL_EXCLUSION */
+} LTDCDriver;
+
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Makes an ARGB-8888 value from byte components.
+ *
+ * @param[in] a         alpha byte component
+ * @param[in] r         red byte component
+ * @param[in] g         green byte component
+ * @param[in] b         blue byte component
+ *
+ * @return              color in ARGB-8888 format
+ *
+ * @api
+ */
+#define ltdcMakeARGB8888(a, r, g, b) \
+  ((((ltdc_color_t)(a) & 0xFF) << 24) | \
+   (((ltdc_color_t)(r) & 0xFF) << 16) | \
+   (((ltdc_color_t)(g) & 0xFF) <<  8) | \
+   (((ltdc_color_t)(b) & 0xFF) <<  0))
+
+/**
+ * @brief   Compute bytes per pixel.
+ * @details Computes the bytes per pixel for the specified pixel format.
+ *          Rounds to the ceiling.
+ *
+ * @param[in] fmt       pixel format
+ *
+ * @return              bytes per pixel
+ *
+ * @api
+ */
+#define ltdcBytesPerPixel(fmt) \
+  ((ltdcBitsPerPixel(fmt) + 7) >> 3)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern LTDCDriver LTDCD1;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  /* Driver methods.*/
+  void ltdcInit(void);
+  void ltdcObjectInit(LTDCDriver *ltdcp);
+  ltdc_state_t ltdcGetStateI(LTDCDriver *ltdcp);
+  ltdc_state_t ltdcGetState(LTDCDriver *ltdcp);
+  void ltdcStart(LTDCDriver *ltdcp, const LTDCConfig *configp);
+  void ltdcStop(LTDCDriver *ltdcp);
+#if (TRUE == LTDC_USE_MUTUAL_EXCLUSION)
+  void ltdcAcquireBusS(LTDCDriver *ltdcp);
+  void ltdcAcquireBus(LTDCDriver *ltdcp);
+  void ltdcReleaseBusS(LTDCDriver *ltdcp);
+  void ltdcReleaseBus(LTDCDriver *ltdcp);
+#endif  /* LTDC_USE_MUTUAL_EXCLUSION */
+
+  /* Global methods.*/
+  ltdc_flags_t ltdcGetEnableFlagsI(LTDCDriver *ltdcp);
+  ltdc_flags_t ltdcGetEnableFlags(LTDCDriver *ltdcp);
+  void ltdcSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  void ltdcSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  bool ltdcIsReloadingI(LTDCDriver *ltdcp);
+  bool ltdcIsReloading(LTDCDriver *ltdcp);
+  void ltdcStartReloadI(LTDCDriver *ltdcp, bool immediately);
+  void ltdcStartReload(LTDCDriver *ltdcp, bool immediately);
+  void ltdcReloadS(LTDCDriver *ltdcp, bool immediately);
+  void ltdcReload(LTDCDriver *ltdcp, bool immediately);
+  bool ltdcIsDitheringEnabledI(LTDCDriver *ltdcp);
+  bool ltdcIsDitheringEnabled(LTDCDriver *ltdcp);
+  void ltdcEnableDitheringI(LTDCDriver *ltdcp);
+  void ltdcEnableDithering(LTDCDriver *ltdcp);
+  void ltdcDisableDitheringI(LTDCDriver *ltdcp);
+  void ltdcDisableDithering(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcGetClearColorI(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcGetClearColor(LTDCDriver *ltdcp);
+  void ltdcSetClearColorI(LTDCDriver *ltdcp, ltdc_color_t c);
+  void ltdcSetClearColor(LTDCDriver *ltdcp, ltdc_color_t c);
+  uint16_t ltdcGetLineInterruptPosI(LTDCDriver *ltdcp);
+  uint16_t ltdcGetLineInterruptPos(LTDCDriver *ltdcp);
+  void ltdcSetLineInterruptPosI(LTDCDriver *ltdcp, uint16_t line);
+  void ltdcSetLineInterruptPos(LTDCDriver *ltdcp, uint16_t line);
+  bool ltdcIsLineInterruptEnabledI(LTDCDriver *ltdcp);
+  bool ltdcIsLineInterruptEnabled(LTDCDriver *ltdcp);
+  void ltdcEnableLineInterruptI(LTDCDriver *ltdcp);
+  void ltdcEnableLineInterrupt(LTDCDriver *ltdcp);
+  void ltdcDisableLineInterruptI(LTDCDriver *ltdcp);
+  void ltdcDisableLineInterrupt(LTDCDriver *ltdcp);
+  void ltdcGetCurrentPosI(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp);
+  void ltdcGetCurrentPos(LTDCDriver *ltdcp, uint16_t *xp, uint16_t *yp);
+
+  /* Background layer methods.*/
+  ltdc_flags_t ltdcBgGetEnableFlagsI(LTDCDriver *ltdcp);
+  ltdc_flags_t ltdcBgGetEnableFlags(LTDCDriver *ltdcp);
+  void ltdcBgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  void ltdcBgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  bool ltdcBgIsEnabledI(LTDCDriver *ltdcp);
+  bool ltdcBgIsEnabled(LTDCDriver *ltdcp);
+  void ltdcBgEnableI(LTDCDriver *ltdcp);
+  void ltdcBgEnable(LTDCDriver *ltdcp);
+  void ltdcBgDisableI(LTDCDriver *ltdcp);
+  void ltdcBgDisable(LTDCDriver *ltdcp);
+  bool ltdcBgIsPaletteEnabledI(LTDCDriver *ltdcp);
+  bool ltdcBgIsPaletteEnabled(LTDCDriver *ltdcp);
+  void ltdcBgEnablePaletteI(LTDCDriver *ltdcp);
+  void ltdcBgEnablePalette(LTDCDriver *ltdcp);
+  void ltdcBgDisablePaletteI(LTDCDriver *ltdcp);
+  void ltdcBgDisablePalette(LTDCDriver *ltdcp);
+  void ltdcBgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);
+  void ltdcBgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);
+  void ltdcBgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                         uint16_t length);
+  void ltdcBgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                        uint16_t length);
+  ltdc_pixfmt_t ltdcBgGetPixelFormatI(LTDCDriver *ltdcp);
+  ltdc_pixfmt_t ltdcBgGetPixelFormat(LTDCDriver *ltdcp);
+  void ltdcBgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);
+  void ltdcBgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);
+  bool ltdcBgIsKeyingEnabledI(LTDCDriver *ltdcp);
+  bool ltdcBgIsKeyingEnabled(LTDCDriver *ltdcp);
+  void ltdcBgEnableKeyingI(LTDCDriver *ltdcp);
+  void ltdcBgEnableKeying(LTDCDriver *ltdcp);
+  void ltdcBgDisableKeyingI(LTDCDriver *ltdcp);
+  void ltdcBgDisableKeying(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcBgGetKeyingColorI(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcBgGetKeyingColor(LTDCDriver *ltdcp);
+  void ltdcBgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c);
+  void ltdcBgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c);
+  uint8_t ltdcBgGetConstantAlphaI(LTDCDriver *ltdcp);
+  uint8_t ltdcBgGetConstantAlpha(LTDCDriver *ltdcp);
+  void ltdcBgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a);
+  void ltdcBgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a);
+  ltdc_color_t ltdcBgGetDefaultColorI(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcBgGetDefaultColor(LTDCDriver *ltdcp);
+  void ltdcBgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c);
+  void ltdcBgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c);
+  ltdc_blendf_t ltdcBgGetBlendingFactorsI(LTDCDriver *ltdcp);
+  ltdc_blendf_t ltdcBgGetBlendingFactors(LTDCDriver *ltdcp);
+  void ltdcBgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf);
+  void ltdcBgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf);
+  void ltdcBgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp);
+  void ltdcBgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp);
+  void ltdcBgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp);
+  void ltdcBgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp);
+  void ltdcBgSetInvalidWindowI(LTDCDriver *ltdcp);
+  void ltdcBgSetInvalidWindow(LTDCDriver *ltdcp);
+  void ltdcBgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep);
+  void ltdcBgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep);
+  void ltdcBgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep);
+  void ltdcBgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep);
+  void *ltdcBgGetFrameAddressI(LTDCDriver *ltdcp);
+  void *ltdcBgGetFrameAddress(LTDCDriver *ltdcp);
+  void ltdcBgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp);
+  void ltdcBgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp);
+  void ltdcBgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);
+  void ltdcBgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);
+  void ltdcBgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);
+  void ltdcBgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);
+
+  /* Foreground layer methods.*/
+  ltdc_flags_t ltdcFgGetEnableFlagsI(LTDCDriver *ltdcp);
+  ltdc_flags_t ltdcFgGetEnableFlags(LTDCDriver *ltdcp);
+  void ltdcFgSetEnableFlagsI(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  void ltdcFgSetEnableFlags(LTDCDriver *ltdcp, ltdc_flags_t flags);
+  bool ltdcFgIsEnabledI(LTDCDriver *ltdcp);
+  bool ltdcFgIsEnabled(LTDCDriver *ltdcp);
+  void ltdcFgEnableI(LTDCDriver *ltdcp);
+  void ltdcFgEnable(LTDCDriver *ltdcp);
+  void ltdcFgDisableI(LTDCDriver *ltdcp);
+  void ltdcFgDisable(LTDCDriver *ltdcp);
+  bool ltdcFgIsPaletteEnabledI(LTDCDriver *ltdcp);
+  bool ltdcFgIsPaletteEnabled(LTDCDriver *ltdcp);
+  void ltdcFgEnablePaletteI(LTDCDriver *ltdcp);
+  void ltdcFgEnablePalette(LTDCDriver *ltdcp);
+  void ltdcFgDisablePaletteI(LTDCDriver *ltdcp);
+  void ltdcFgDisablePalette(LTDCDriver *ltdcp);
+  void ltdcFgSetPaletteColorI(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);
+  void ltdcFgSetPaletteColor(LTDCDriver *ltdcp, uint8_t slot, ltdc_color_t c);
+  void ltdcFgSetPaletteI(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                         uint16_t length);
+  void ltdcFgSetPalette(LTDCDriver *ltdcp, const ltdc_color_t colors[],
+                        uint16_t length);
+  ltdc_pixfmt_t ltdcFgGetPixelFormatI(LTDCDriver *ltdcp);
+  ltdc_pixfmt_t ltdcFgGetPixelFormat(LTDCDriver *ltdcp);
+  void ltdcFgSetPixelFormatI(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);
+  void ltdcFgSetPixelFormat(LTDCDriver *ltdcp, ltdc_pixfmt_t fmt);
+  bool ltdcFgIsKeyingEnabledI(LTDCDriver *ltdcp);
+  bool ltdcFgIsKeyingEnabled(LTDCDriver *ltdcp);
+  void ltdcFgEnableKeyingI(LTDCDriver *ltdcp);
+  void ltdcFgEnableKeying(LTDCDriver *ltdcp);
+  void ltdcFgDisableKeyingI(LTDCDriver *ltdcp);
+  void ltdcFgDisableKeying(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcFgGetKeyingColorI(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcFgGetKeyingColor(LTDCDriver *ltdcp);
+  void ltdcFgSetKeyingColorI(LTDCDriver *ltdcp, ltdc_color_t c);
+  void ltdcFgSetKeyingColor(LTDCDriver *ltdcp, ltdc_color_t c);
+  uint8_t ltdcFgGetConstantAlphaI(LTDCDriver *ltdcp);
+  uint8_t ltdcFgGetConstantAlpha(LTDCDriver *ltdcp);
+  void ltdcFgSetConstantAlphaI(LTDCDriver *ltdcp, uint8_t a);
+  void ltdcFgSetConstantAlpha(LTDCDriver *ltdcp, uint8_t a);
+  ltdc_color_t ltdcFgGetDefaultColorI(LTDCDriver *ltdcp);
+  ltdc_color_t ltdcFgGetDefaultColor(LTDCDriver *ltdcp);
+  void ltdcFgSetDefaultColorI(LTDCDriver *ltdcp, ltdc_color_t c);
+  void ltdcFgSetDefaultColor(LTDCDriver *ltdcp, ltdc_color_t c);
+  ltdc_blendf_t ltdcFgGetBlendingFactorsI(LTDCDriver *ltdcp);
+  ltdc_blendf_t ltdcFgGetBlendingFactors(LTDCDriver *ltdcp);
+  void ltdcFgSetBlendingFactorsI(LTDCDriver *ltdcp, ltdc_blendf_t bf);
+  void ltdcFgSetBlendingFactors(LTDCDriver *ltdcp, ltdc_blendf_t bf);
+  void ltdcFgGetWindowI(LTDCDriver *ltdcp, ltdc_window_t *windowp);
+  void ltdcFgGetWindow(LTDCDriver *ltdcp, ltdc_window_t *windowp);
+  void ltdcFgSetWindowI(LTDCDriver *ltdcp, const ltdc_window_t *windowp);
+  void ltdcFgSetWindow(LTDCDriver *ltdcp, const ltdc_window_t *windowp);
+  void ltdcFgSetInvalidWindowI(LTDCDriver *ltdcp);
+  void ltdcFgSetInvalidWindow(LTDCDriver *ltdcp);
+  void ltdcFgGetFrameI(LTDCDriver *ltdcp, ltdc_frame_t *framep);
+  void ltdcFgGetFrame(LTDCDriver *ltdcp, ltdc_frame_t *framep);
+  void ltdcFgSetFrameI(LTDCDriver *ltdcp, const ltdc_frame_t *framep);
+  void ltdcFgSetFrame(LTDCDriver *ltdcp, const ltdc_frame_t *framep);
+  void *ltdcFgGetFrameAddressI(LTDCDriver *ltdcp);
+  void *ltdcFgGetFrameAddress(LTDCDriver *ltdcp);
+  void ltdcFgSetFrameAddressI(LTDCDriver *ltdcp, void *bufferp);
+  void ltdcFgSetFrameAddress(LTDCDriver *ltdcp, void *bufferp);
+  void ltdcFgGetLayerI(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);
+  void ltdcFgGetLayer(LTDCDriver *ltdcp, ltdc_laycfg_t *cfgp);
+  void ltdcFgSetConfigI(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);
+  void ltdcFgSetConfig(LTDCDriver *ltdcp, const ltdc_laycfg_t *cfgp);
+
+  /* Helper functions.*/
+  size_t ltdcBitsPerPixel(ltdc_pixfmt_t fmt);
+#if (TRUE == LTDC_USE_SOFTWARE_CONVERSIONS) || defined(__DOXYGEN__)
+  ltdc_color_t ltdcFromARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt);
+  ltdc_color_t ltdcToARGB8888(ltdc_color_t c, ltdc_pixfmt_t fmt);
+#endif  /* LTDC_USE_SOFTWARE_CONVERSIONS */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* STM32_LTDC_USE_LTDC */
+
+#endif  /* _STM32_LTDC_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c
index c04278e..c04278e 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c
diff --git a/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.h
index 927eb6f..927eb6f 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.h
diff --git a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c
index 635e9b2..8ab6176 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c
@@ -37,7 +37,7 @@
 #if HAL_USE_TIMCAP || defined(__DOXYGEN__)
 
 #include "stm32_tim.h"
-#include "timcap.h"
+#include "hal_timcap.h"
 
 /*===========================================================================*/
 /* Driver local definitions.                                                 */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.h
index d39c438..d39c438 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.h
diff --git a/os/hal/ports/STM32/LLD/USBHv1/stm32_otg.h b/os/hal/ports/STM32/LLD/USBHv1/hal_stm32_otg.h
index 268c9bf..ca2dc49 100644
--- a/os/hal/ports/STM32/LLD/USBHv1/stm32_otg.h
+++ b/os/hal/ports/STM32/LLD/USBHv1/hal_stm32_otg.h
@@ -1,929 +1,929 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    stm32_otg.h

- * @brief   STM32 OTG registers layout header.

- *

- * @addtogroup USB

- * @{

- */

-

-

-#ifndef _STM32_OTG_H_

-#define _STM32_OTG_H_

-

-/**

- * @brief   Number of the implemented endpoints in OTG_FS.

- * @details This value does not include the endpoint 0 that is always present.

- */

-#define STM32_OTG1_ENDOPOINTS_NUMBER    3

-

-/**

- * @brief   Number of the implemented endpoints in OTG_HS.

- * @details This value does not include the endpoint 0 that is always present.

- */

-#define STM32_OTG2_ENDOPOINTS_NUMBER    5

-

-/**

- * @brief   OTG_FS FIFO memory size in words.

- */

-#define STM32_OTG1_FIFO_MEM_SIZE        320

-

-/**

- * @brief   OTG_HS FIFO memory size in words.

- */

-#define STM32_OTG2_FIFO_MEM_SIZE        1024

-

-/**

- * @brief   Host channel registers group.

- */

-typedef struct {

-  volatile uint32_t HCCHAR;     /**< @brief Host channel characteristics

-                                            register.                       */

-  volatile uint32_t resvd8;

-  volatile uint32_t HCINT;      /**< @brief Host channel interrupt register.*/

-  volatile uint32_t HCINTMSK;   /**< @brief Host channel interrupt mask

-                                            register.                       */

-  volatile uint32_t HCTSIZ;     /**< @brief Host channel transfer size

-                                            register.                       */

-  volatile uint32_t resvd14;

-  volatile uint32_t resvd18;

-  volatile uint32_t resvd1c;

-} stm32_otg_host_chn_t;

-

-/**

- * @brief   Device input endpoint registers group.

- */

-typedef struct {

-  volatile uint32_t DIEPCTL;    /**< @brief Device control IN endpoint

-                                            control register.               */

-  volatile uint32_t resvd4;

-  volatile uint32_t DIEPINT;    /**< @brief Device IN endpoint interrupt

-                                            register.                       */

-  volatile uint32_t resvdC;

-  volatile uint32_t DIEPTSIZ;   /**< @brief Device IN endpoint transfer size

-                                            register.                       */

-  volatile uint32_t resvd14;

-  volatile uint32_t DTXFSTS;    /**< @brief Device IN endpoint transmit FIFO

-                                            status register.                */

-  volatile uint32_t resvd1C;

-} stm32_otg_in_ep_t;

-

-/**

- * @brief   Device output endpoint registers group.

- */

-typedef struct {

-  volatile uint32_t DOEPCTL;    /**< @brief Device control OUT endpoint

-                                            control register.               */

-  volatile uint32_t resvd4;

-  volatile uint32_t DOEPINT;    /**< @brief Device OUT endpoint interrupt

-                                            register.                       */

-  volatile uint32_t resvdC;

-  volatile uint32_t DOEPTSIZ;   /**< @brief Device OUT endpoint transfer

-                                            size register.                  */

-  volatile uint32_t resvd14;

-  volatile uint32_t resvd18;

-  volatile uint32_t resvd1C;

-} stm32_otg_out_ep_t;

-

-/**

- * @brief   USB registers memory map.

- */

-typedef struct {

-  volatile uint32_t GOTGCTL;    /**< @brief OTG control and status register.*/

-  volatile uint32_t GOTGINT;    /**< @brief OTG interrupt register.         */

-  volatile uint32_t GAHBCFG;    /**< @brief AHB configuration register.     */

-  volatile uint32_t GUSBCFG;    /**< @brief USB configuration register.     */

-  volatile uint32_t GRSTCTL;    /**< @brief Reset register size.            */

-  volatile uint32_t GINTSTS;    /**< @brief Interrupt register.             */

-  volatile uint32_t GINTMSK;    /**< @brief Interrupt mask register.        */

-  volatile uint32_t GRXSTSR;    /**< @brief Receive status debug read

-                                            register.                       */

-  volatile uint32_t GRXSTSP;    /**< @brief Receive status read/pop

-                                            register.                       */

-  volatile uint32_t GRXFSIZ;    /**< @brief Receive FIFO size register.     */

-  volatile uint32_t DIEPTXF0;   /**< @brief Endpoint 0 transmit FIFO size

-                                            register.                       */

-  volatile uint32_t HNPTXSTS;   /**< @brief Non-periodic transmit FIFO/queue

-                                            status register.                */

-  volatile uint32_t resvd30;

-  volatile uint32_t resvd34;

-  volatile uint32_t GCCFG;      /**< @brief General core configuration.     */

-  volatile uint32_t CID;        /**< @brief Core ID register.               */

-  volatile uint32_t resvd58[48];

-  volatile uint32_t HPTXFSIZ;   /**< @brief Host periodic transmit FIFO size

-                                            register.                       */

-  volatile uint32_t DIEPTXF[15];/**< @brief Device IN endpoint transmit FIFO

-                                            size registers.                 */

-  volatile uint32_t resvd140[176];

-  volatile uint32_t HCFG;       /**< @brief Host configuration register.    */

-  volatile uint32_t HFIR;       /**< @brief Host frame interval register.   */

-  volatile uint32_t HFNUM;      /**< @brief Host frame number/frame time

-                                            Remaining register.             */

-  volatile uint32_t resvd40C;

-  volatile uint32_t HPTXSTS;    /**< @brief Host periodic transmit FIFO/queue

-                                            status register.                */

-  volatile uint32_t HAINT;      /**< @brief Host all channels interrupt

-                                            register.                       */

-  volatile uint32_t HAINTMSK;   /**< @brief Host all channels interrupt mask

-                                            register.                       */

-  volatile uint32_t resvd41C[9];

-  volatile uint32_t HPRT;       /**< @brief Host port control and status

-                                            register.                       */

-  volatile uint32_t resvd444[47];

-  stm32_otg_host_chn_t hc[16];  /**< @brief Host channels array.            */

-  volatile uint32_t resvd700[64];

-  volatile uint32_t DCFG;       /**< @brief Device configuration register.  */

-  volatile uint32_t DCTL;       /**< @brief Device control register.        */

-  volatile uint32_t DSTS;       /**< @brief Device status register.         */

-  volatile uint32_t resvd80C;

-  volatile uint32_t DIEPMSK;    /**< @brief Device IN endpoint common

-                                            interrupt mask register.        */

-  volatile uint32_t DOEPMSK;    /**< @brief Device OUT endpoint common

-                                            interrupt mask register.        */

-  volatile uint32_t DAINT;      /**< @brief Device all endpoints interrupt

-                                            register.                       */

-  volatile uint32_t DAINTMSK;   /**< @brief Device all endpoints interrupt

-                                            mask register.                  */

-  volatile uint32_t resvd820;

-  volatile uint32_t resvd824;

-  volatile uint32_t DVBUSDIS;   /**< @brief Device VBUS discharge time

-                                            register.                       */

-  volatile uint32_t DVBUSPULSE; /**< @brief Device VBUS pulsing time

-                                            register.                       */

-  volatile uint32_t resvd830;

-  volatile uint32_t DIEPEMPMSK; /**< @brief Device IN endpoint FIFO empty

-                                            interrupt mask register.        */

-  volatile uint32_t resvd838;

-  volatile uint32_t resvd83C;

-  volatile uint32_t resvd840[16];

-  volatile uint32_t resvd880[16];

-  volatile uint32_t resvd8C0[16];

-  stm32_otg_in_ep_t ie[16];     /**< @brief Input endpoints.                */

-  stm32_otg_out_ep_t oe[16];    /**< @brief Output endpoints.               */

-  volatile uint32_t resvdD00[64];

-  volatile uint32_t PCGCCTL;    /**< @brief Power and clock gating control

-                                            register.                       */

-  volatile uint32_t resvdE04[127];

-  volatile uint32_t FIFO[16][1024];

-} stm32_otg_t;

-

-/**

- * @name GOTGCTL register bit definitions

- * @{

- */

-#define GOTGCTL_BSVLD           (1U<<19)    /**< B-Session Valid.           */

-#define GOTGCTL_ASVLD           (1U<<18)    /**< A-Session Valid.           */

-#define GOTGCTL_DBCT            (1U<<17)    /**< Long/Short debounce time.  */

-#define GOTGCTL_CIDSTS          (1U<<16)    /**< Connector ID status.       */

-#define GOTGCTL_EHEN            (1U<<12)

-#define GOTGCTL_DHNPEN          (1U<<11)    /**< Device HNP enabled.        */

-#define GOTGCTL_HSHNPEN         (1U<<10)    /**< Host Set HNP enable.       */

-#define GOTGCTL_HNPRQ           (1U<<9)     /**< HNP request.               */

-#define GOTGCTL_HNGSCS          (1U<<8)     /**< Host negotiation success.  */

-#define GOTGCTL_BVALOVAL        (1U<<7)

-#define GOTGCTL_BVALOEN         (1U<<6)

-#define GOTGCTL_AVALOVAL        (1U<<5)

-#define GOTGCTL_AVALOEN         (1U<<4)

-#define GOTGCTL_VBVALOVAL       (1U<<3)

-#define GOTGCTL_VBVALOEN        (1U<<2)

-#define GOTGCTL_SRQ             (1U<<1)     /**< Session request.           */

-#define GOTGCTL_SRQSCS          (1U<<0)     /**< Session request success.   */

-/** @} */

-

-/**

- * @name GOTGINT register bit definitions

- * @{

- */

-#define GOTGINT_DBCDNE          (1U<<19)    /**< Debounce done.             */

-#define GOTGINT_ADTOCHG         (1U<<18)    /**< A-Device timeout change.   */

-#define GOTGINT_HNGDET          (1U<<17)    /**< Host negotiation detected. */

-#define GOTGINT_HNSSCHG         (1U<<9)     /**< Host negotiation success

-                                                 status change.             */

-#define GOTGINT_SRSSCHG         (1U<<8)     /**< Session request success

-                                                 status change.             */

-#define GOTGINT_SEDET           (1U<<2)     /**< Session end detected.      */

-/** @} */

-

-/**

- * @name GAHBCFG register bit definitions

- * @{

- */

-#define GAHBCFG_PTXFELVL        (1U<<8)     /**< Periodic TxFIFO empty

-                                                 level.                     */

-#define GAHBCFG_TXFELVL         (1U<<7)     /**< Non-periodic TxFIFO empty

-                                                 level.                     */

-#define GAHBCFG_DMAEN           (1U<<5)     /**< DMA enable (HS only).      */

-#define GAHBCFG_HBSTLEN_MASK    (15U<<1)    /**< Burst length/type mask (HS

-                                                 only).                     */

-#define GAHBCFG_HBSTLEN(n)      ((n)<<1)    /**< Burst length/type (HS

-                                                 only).                     */

-#define GAHBCFG_GINTMSK         (1U<<0)     /**< Global interrupt mask.     */

-/** @} */

-

-/**

- * @name GUSBCFG register bit definitions

- * @{

- */

-#define GUSBCFG_CTXPKT          (1U<<31)    /**< Corrupt Tx packet.         */

-#define GUSBCFG_FDMOD           (1U<<30)    /**< Force Device Mode.         */

-#define GUSBCFG_FHMOD           (1U<<29)    /**< Force Host Mode.           */

-#define GUSBCFG_TRDT_MASK       (15U<<10)   /**< USB Turnaround time field

-                                                 mask.                      */

-#define GUSBCFG_TRDT(n)         ((n)<<10)   /**< USB Turnaround time field

-                                                 value.                     */

-#define GUSBCFG_HNPCAP          (1U<<9)     /**< HNP-Capable.               */

-#define GUSBCFG_SRPCAP          (1U<<8)     /**< SRP-Capable.               */

-#define GUSBCFG_PHYSEL          (1U<<6)     /**< USB 2.0 High-Speed PHY or

-                                                 USB 1.1 Full-Speed serial

-                                                 transceiver Select.        */

-#define GUSBCFG_TOCAL_MASK      (7U<<0)     /**< HS/FS timeout calibration

-                                                 field mask.                */

-#define GUSBCFG_TOCAL(n)        ((n)<<0)    /**< HS/FS timeout calibration

-                                                 field value.               */

-/** @} */

-

-/**

- * @name GRSTCTL register bit definitions

- * @{

- */

-#define GRSTCTL_AHBIDL          (1U<<31)    /**< AHB Master Idle.           */

-#define GRSTCTL_TXFNUM_MASK     (31U<<6)    /**< TxFIFO number field mask.  */

-#define GRSTCTL_TXFNUM(n)       ((n)<<6)    /**< TxFIFO number field value. */

-#define GRSTCTL_TXFFLSH         (1U<<5)     /**< TxFIFO flush.              */

-#define GRSTCTL_RXFFLSH         (1U<<4)     /**< RxFIFO flush.              */

-#define GRSTCTL_FCRST           (1U<<2)     /**< Host frame counter reset.  */

-#define GRSTCTL_HSRST           (1U<<1)     /**< HClk soft reset.           */

-#define GRSTCTL_CSRST           (1U<<0)     /**< Core soft reset.           */

-/** @} */

-

-/**

- * @name GINTSTS register bit definitions

- * @{

- */

-#define GINTSTS_WKUPINT         (1U<<31)    /**< Resume/Remote wakeup

-                                                 detected interrupt.        */

-#define GINTSTS_SRQINT          (1U<<30)    /**< Session request/New session

-                                                 detected interrupt.        */

-#define GINTSTS_DISCINT         (1U<<29)    /**< Disconnect detected

-                                                 interrupt.                 */

-#define GINTSTS_CIDSCHG         (1U<<28)    /**< Connector ID status change.*/

-#define GINTSTS_PTXFE           (1U<<26)    /**< Periodic TxFIFO empty.     */

-#define GINTSTS_HCINT           (1U<<25)    /**< Host channels interrupt.   */

-#define GINTSTS_HPRTINT         (1U<<24)    /**< Host port interrupt.       */

-#define GINTSTS_IPXFR           (1U<<21)    /**< Incomplete periodic

-                                                 transfer.                  */

-#define GINTSTS_IISOOXFR        (1U<<21)    /**< Incomplete isochronous OUT

-                                                 transfer.                  */

-#define GINTSTS_IISOIXFR        (1U<<20)    /**< Incomplete isochronous IN

-                                                 transfer.                  */

-#define GINTSTS_OEPINT          (1U<<19)    /**< OUT endpoints interrupt.   */

-#define GINTSTS_IEPINT          (1U<<18)    /**< IN endpoints interrupt.    */

-#define GINTSTS_EOPF            (1U<<15)    /**< End of periodic frame

-                                                 interrupt.                 */

-#define GINTSTS_ISOODRP         (1U<<14)    /**< Isochronous OUT packet

-                                                 dropped interrupt.         */

-#define GINTSTS_ENUMDNE         (1U<<13)    /**< Enumeration done.          */

-#define GINTSTS_USBRST          (1U<<12)    /**< USB reset.                 */

-#define GINTSTS_USBSUSP         (1U<<11)    /**< USB suspend.               */

-#define GINTSTS_ESUSP           (1U<<10)    /**< Early suspend.             */

-#define GINTSTS_GONAKEFF        (1U<<7)     /**< Global OUT NAK effective.  */

-#define GINTSTS_GINAKEFF        (1U<<6)     /**< Global IN non-periodic NAK

-                                                 effective.                 */

-#define GINTSTS_NPTXFE          (1U<<5)     /**< Non-periodic TxFIFO empty. */

-#define GINTSTS_RXFLVL          (1U<<4)     /**< RxFIFO non-empty.          */

-#define GINTSTS_SOF             (1U<<3)     /**< Start of frame.            */

-#define GINTSTS_OTGINT          (1U<<2)     /**< OTG interrupt.             */

-#define GINTSTS_MMIS            (1U<<1)     /**< Mode Mismatch interrupt.   */

-#define GINTSTS_CMOD            (1U<<0)     /**< Current mode of operation. */

-/** @} */

-

-/**

- * @name GINTMSK register bit definitions

- * @{

- */

-#define GINTMSK_WKUM            (1U<<31)    /**< Resume/remote wakeup

-                                                 detected interrupt mask.   */

-#define GINTMSK_SRQM            (1U<<30)    /**< Session request/New session

-                                                 detected interrupt mask.   */

-#define GINTMSK_DISCM           (1U<<29)    /**< Disconnect detected

-                                                 interrupt mask.            */

-#define GINTMSK_CIDSCHGM        (1U<<28)    /**< Connector ID status change

-                                                 mask.                      */

-#define GINTMSK_PTXFEM          (1U<<26)    /**< Periodic TxFIFO empty mask.*/

-#define GINTMSK_HCM             (1U<<25)    /**< Host channels interrupt

-                                                 mask.                      */

-#define GINTMSK_HPRTM           (1U<<24)    /**< Host port interrupt mask.  */

-#define GINTMSK_IPXFRM          (1U<<21)    /**< Incomplete periodic

-                                                 transfer mask.             */

-#define GINTMSK_IISOOXFRM       (1U<<21)    /**< Incomplete isochronous OUT

-                                                 transfer mask.             */

-#define GINTMSK_IISOIXFRM       (1U<<20)    /**< Incomplete isochronous IN

-                                                 transfer mask.             */

-#define GINTMSK_OEPM            (1U<<19)    /**< OUT endpoints interrupt

-                                                 mask.                      */

-#define GINTMSK_IEPM            (1U<<18)    /**< IN endpoints interrupt

-                                                 mask.                      */

-#define GINTMSK_EOPFM           (1U<<15)    /**< End of periodic frame

-                                                 interrupt mask.            */

-#define GINTMSK_ISOODRPM        (1U<<14)    /**< Isochronous OUT packet

-                                                 dropped interrupt mask.    */

-#define GINTMSK_ENUMDNEM        (1U<<13)    /**< Enumeration done mask.     */

-#define GINTMSK_USBRSTM         (1U<<12)    /**< USB reset mask.            */

-#define GINTMSK_USBSUSPM        (1U<<11)    /**< USB suspend mask.          */

-#define GINTMSK_ESUSPM          (1U<<10)    /**< Early suspend mask.        */

-#define GINTMSK_GONAKEFFM       (1U<<7)     /**< Global OUT NAK effective

-                                                 mask.                      */

-#define GINTMSK_GINAKEFFM       (1U<<6)     /**< Global non-periodic IN NAK

-                                                 effective mask.            */

-#define GINTMSK_NPTXFEM         (1U<<5)     /**< Non-periodic TxFIFO empty

-                                                 mask.                      */

-#define GINTMSK_RXFLVLM         (1U<<4)     /**< Receive FIFO non-empty

-                                                 mask.                      */

-#define GINTMSK_SOFM            (1U<<3)     /**< Start of (micro)frame mask.*/

-#define GINTMSK_OTGM            (1U<<2)     /**< OTG interrupt mask.        */

-#define GINTMSK_MMISM           (1U<<1)     /**< Mode Mismatch interrupt

-                                                 mask.                      */

-/** @} */

-

-/**

- * @name GRXSTSR register bit definitions

- * @{

- */

-#define GRXSTSR_PKTSTS_MASK     (15U<<17)   /**< Packet status mask.        */

-#define GRXSTSR_PKTSTS(n)       ((n)<<17)   /**< Packet status value.       */

-#define GRXSTSR_OUT_GLOBAL_NAK  GRXSTSR_PKTSTS(1)

-#define GRXSTSR_OUT_DATA        GRXSTSR_PKTSTS(2)

-#define GRXSTSR_OUT_COMP        GRXSTSR_PKTSTS(3)

-#define GRXSTSR_SETUP_COMP      GRXSTSR_PKTSTS(4)

-#define GRXSTSR_SETUP_DATA      GRXSTSR_PKTSTS(6)

-#define GRXSTSR_DPID_MASK       (3U<<15)    /**< Data PID mask.             */

-#define GRXSTSR_DPID(n)         ((n)<<15)   /**< Data PID value.            */

-#define GRXSTSR_BCNT_MASK       (0x7FF<<4)  /**< Byte count mask.           */

-#define GRXSTSR_BCNT(n)         ((n)<<4)    /**< Byte count value.          */

-#define GRXSTSR_CHNUM_MASK      (15U<<0)    /**< Channel number mask.       */

-#define GRXSTSR_CHNUM(n)        ((n)<<0)    /**< Channel number value.      */

-#define GRXSTSR_EPNUM_MASK      (15U<<0)    /**< Endpoint number mask.      */

-#define GRXSTSR_EPNUM(n)        ((n)<<0)    /**< Endpoint number value.     */

-/** @} */

-

-/**

- * @name GRXSTSP register bit definitions

- * @{

- */

-#define GRXSTSP_PKTSTS_MASK     (15<<17)    /**< Packet status mask.        */

-#define GRXSTSP_PKTSTS(n)       ((n)<<17)   /**< Packet status value.       */

-#define GRXSTSP_OUT_GLOBAL_NAK  GRXSTSP_PKTSTS(1)

-#define GRXSTSP_OUT_DATA        GRXSTSP_PKTSTS(2)

-#define GRXSTSP_OUT_COMP        GRXSTSP_PKTSTS(3)

-#define GRXSTSP_SETUP_COMP      GRXSTSP_PKTSTS(4)

-#define GRXSTSP_SETUP_DATA      GRXSTSP_PKTSTS(6)

-#define GRXSTSP_DPID_MASK       (3U<<15)    /**< Data PID mask.             */

-#define GRXSTSP_DPID(n)         ((n)<<15)   /**< Data PID value.            */

-#define GRXSTSP_BCNT_MASK       (0x7FF<<4)  /**< Byte count mask.           */

-#define GRXSTSP_BCNT_OFF        4           /**< Byte count offset.         */

-#define GRXSTSP_BCNT(n)         ((n)<<4)    /**< Byte count value.          */

-#define GRXSTSP_CHNUM_MASK      (15U<<0)    /**< Channel number mask.       */

-#define GRXSTSP_CHNUM(n)        ((n)<<0)    /**< Channel number value.      */

-#define GRXSTSP_EPNUM_MASK      (15U<<0)    /**< Endpoint number mask.      */

-#define GRXSTSP_EPNUM_OFF       0           /**< Endpoint number offset.    */

-#define GRXSTSP_EPNUM(n)        ((n)<<0)    /**< Endpoint number value.     */

-/** @} */

-

-/**

- * @name GRXFSIZ register bit definitions

- * @{

- */

-#define GRXFSIZ_RXFD_MASK       (0xFFFF<<0) /**< RxFIFO depth mask.         */

-#define GRXFSIZ_RXFD(n)         ((n)<<0)    /**< RxFIFO depth value.        */

-/** @} */

-

-/**

- * @name DIEPTXFx register bit definitions

- * @{

- */

-#define DIEPTXF_INEPTXFD_MASK   (0xFFFFU<<16)/**< IN endpoint TxFIFO depth

-                                                 mask.                      */

-#define DIEPTXF_INEPTXFD(n)     ((n)<<16)   /**< IN endpoint TxFIFO depth

-                                                 value.                     */

-#define DIEPTXF_INEPTXSA_MASK   (0xFFFF<<0) /**< IN endpoint FIFOx transmit

-                                                 RAM start address mask.    */

-#define DIEPTXF_INEPTXSA(n)     ((n)<<0)    /**< IN endpoint FIFOx transmit

-                                                 RAM start address value.   */

-/** @} */

-

-/**

- * @name GCCFG register bit definitions

- * @{

- */

-#define GCCFG_NOVBUSSENS        (1U<<21)    /**< VBUS sensing disable.      */

-#define GCCFG_SOFOUTEN          (1U<<20)    /**< SOF output enable.         */

-#define GCCFG_VBUSBSEN          (1U<<19)    /**< Enable the VBUS sensing "B"

-                                                 device.                    */

-#define GCCFG_VBUSASEN          (1U<<18)    /**< Enable the VBUS sensing "A"

-                                                 device.                    */

-#define GCCFG_PWRDWN            (1U<<16)    /**< Power down.                */

-/** @} */

-

-/**

- * @name HPTXFSIZ register bit definitions

- * @{

- */

-#define HPTXFSIZ_PTXFD_MASK     (0xFFFFU<<16)/**< Host periodic TxFIFO

-                                                 depth mask.                */

-#define HPTXFSIZ_PTXFD(n)       ((n)<<16)   /**< Host periodic TxFIFO

-                                                 depth value.               */

-#define HPTXFSIZ_PTXSA_MASK     (0xFFFFU<<0)/**< Host periodic TxFIFO

-                                                 Start address mask.        */

-#define HPTXFSIZ_PTXSA(n)       ((n)<<0)    /**< Host periodic TxFIFO

-                                                 start address value.       */

-/** @} */

-

-/**

- * @name HCFG register bit definitions

- * @{

- */

-#define HCFG_FSLSS              (1U<<2)     /**< FS- and LS-only support.   */

-#define HCFG_FSLSPCS_MASK       (3U<<0)     /**< FS/LS PHY clock select

-                                                 mask.                      */

-#define HCFG_FSLSPCS_48         (1U<<0)     /**< PHY clock is running at

-                                                 48 MHz.                    */

-#define HCFG_FSLSPCS_6          (2U<<0)     /**< PHY clock is running at

-                                                 6 MHz.                     */

-/** @} */

-

-/**

- * @name HFIR register bit definitions

- * @{

- */

-#define HFIR_FRIVL_MASK         (0xFFFFU<<0)/**< Frame interval mask.       */

-#define HFIR_FRIVL(n)           ((n)<<0)    /**< Frame interval value.      */

-/** @} */

-

-/**

- * @name HFNUM register bit definitions

- * @{

- */

-#define HFNUM_FTREM_MASK        (0xFFFFU<<16)/**< Frame time Remaining mask.*/

-#define HFNUM_FTREM(n)          ((n)<<16)   /**< Frame time Remaining value.*/

-#define HFNUM_FRNUM_MASK        (0xFFFFU<<0)/**< Frame number mask.         */

-#define HFNUM_FRNUM(n)          ((n)<<0)    /**< Frame number value.        */

-/** @} */

-

-/**

- * @name HPTXSTS register bit definitions

- * @{

- */

-#define HPTXSTS_PTXQTOP_MASK    (0xFFU<<24) /**< Top of the periodic

-                                                 transmit request queue

-                                                 mask.                      */

-#define HPTXSTS_PTXQTOP(n)      ((n)<<24)   /**< Top of the periodic

-                                                 transmit request queue

-                                                 value.                     */

-#define HPTXSTS_PTXQSAV_MASK    (0xFF<<16)  /**< Periodic transmit request

-                                                 queue Space Available

-                                                 mask.                      */

-#define HPTXSTS_PTXQSAV(n)      ((n)<<16)   /**< Periodic transmit request

-                                                 queue Space Available

-                                                 value.                     */

-#define HPTXSTS_PTXFSAVL_MASK   (0xFFFF<<0) /**< Periodic transmit Data

-                                                 FIFO Space Available

-                                                 mask.                      */

-#define HPTXSTS_PTXFSAVL(n)     ((n)<<0)    /**< Periodic transmit Data

-                                                 FIFO Space Available

-                                                 value.                     */

-/** @} */

-

-/**

- * @name HAINT register bit definitions

- * @{

- */

-#define HAINT_HAINT_MASK        (0xFFFFU<<0)/**< Channel interrupts mask.   */

-#define HAINT_HAINT(n)          ((n)<<0)    /**< Channel interrupts value.  */

-/** @} */

-

-/**

- * @name HAINTMSK register bit definitions

- * @{

- */

-#define HAINTMSK_HAINTM_MASK    (0xFFFFU<<0)/**< Channel interrupt mask

-                                                 mask.                      */

-#define HAINTMSK_HAINTM(n)      ((n)<<0)    /**< Channel interrupt mask

-                                                 value.                     */

-/** @} */

-

-/**

- * @name HPRT register bit definitions

- * @{

- */

-#define HPRT_PSPD_MASK          (3U<<17)    /**< Port speed mask.           */

-#define HPRT_PSPD_FS            (1U<<17)    /**< Full speed value.          */

-#define HPRT_PSPD_LS            (2U<<17)    /**< Low speed value.           */

-#define HPRT_PTCTL_MASK         (15<<13)    /**< Port Test control mask.    */

-#define HPRT_PTCTL(n)           ((n)<<13)   /**< Port Test control value.   */

-#define HPRT_PPWR               (1U<<12)    /**< Port power.                */

-#define HPRT_PLSTS_MASK         (3U<<11)    /**< Port Line status mask.     */

-#define HPRT_PLSTS_DM           (1U<<11)    /**< Logic level of D-.         */

-#define HPRT_PLSTS_DP           (1U<<10)    /**< Logic level of D+.         */

-#define HPRT_PRST               (1U<<8)     /**< Port reset.                */

-#define HPRT_PSUSP              (1U<<7)     /**< Port suspend.              */

-#define HPRT_PRES               (1U<<6)     /**< Port Resume.               */

-#define HPRT_POCCHNG            (1U<<5)     /**< Port overcurrent change.   */

-#define HPRT_POCA               (1U<<4)     /**< Port overcurrent active.   */

-#define HPRT_PENCHNG            (1U<<3)     /**< Port enable/disable change.*/

-#define HPRT_PENA               (1U<<2)     /**< Port enable.               */

-#define HPRT_PCDET              (1U<<1)     /**< Port Connect detected.     */

-#define HPRT_PCSTS              (1U<<0)     /**< Port connect status.       */

-/** @} */

-

-/**

- * @name HCCHAR register bit definitions

- * @{

- */

-#define HCCHAR_CHENA            (1U<<31)    /**< Channel enable.            */

-#define HCCHAR_CHDIS            (1U<<30)    /**< Channel Disable.           */

-#define HCCHAR_ODDFRM           (1U<<29)    /**< Odd frame.                 */

-#define HCCHAR_DAD_MASK         (0x7FU<<22) /**< Device Address mask.       */

-#define HCCHAR_DAD(n)           ((n)<<22)   /**< Device Address value.      */

-#define HCCHAR_MCNT_MASK        (3U<<20)    /**< Multicount mask.           */

-#define HCCHAR_MCNT(n)          ((n)<<20)   /**< Multicount value.          */

-#define HCCHAR_EPTYP_MASK       (3U<<18)    /**< Endpoint type mask.        */

-#define HCCHAR_EPTYP(n)         ((n)<<18)   /**< Endpoint type value.       */

-#define HCCHAR_EPTYP_CTL        (0U<<18)    /**< Control endpoint value.    */

-#define HCCHAR_EPTYP_ISO        (1U<<18)    /**< Isochronous endpoint value.*/

-#define HCCHAR_EPTYP_BULK       (2U<<18)    /**< Bulk endpoint value.       */

-#define HCCHAR_EPTYP_INTR       (3U<<18)    /**< Interrupt endpoint value.  */

-#define HCCHAR_LSDEV            (1U<<17)    /**< Low-Speed device.          */

-#define HCCHAR_EPDIR            (1U<<15)    /**< Endpoint direction.        */

-#define HCCHAR_EPNUM_MASK       (15U<<11)   /**< Endpoint number mask.      */

-#define HCCHAR_EPNUM(n)         ((n)<<11)   /**< Endpoint number value.     */

-#define HCCHAR_MPS_MASK         (0x7FFU<<0)    /**< Maximum packet size mask.  */

-#define HCCHAR_MPS(n)           ((n)<<0)    /**< Maximum packet size value. */

-/** @} */

-

-/**

- * @name HCINT register bit definitions

- * @{

- */

-#define HCINT_DTERR             (1U<<10)    /**< Data toggle error.         */

-#define HCINT_FRMOR             (1U<<9)     /**< Frame overrun.             */

-#define HCINT_BBERR             (1U<<8)     /**< Babble error.              */

-#define HCINT_TRERR             (1U<<7)     /**< Transaction Error.         */

-#define HCINT_ACK               (1U<<5)     /**< ACK response

-                                                 received/transmitted

-                                                 interrupt.                 */

-#define HCINT_NAK               (1U<<4)     /**< NAK response received

-                                                 interrupt.                 */

-#define HCINT_STALL             (1U<<3)     /**< STALL response received

-                                                 interrupt.                 */

-#define HCINT_CHH               (1U<<1)     /**< Channel halted.            */

-#define HCINT_XFRC              (1U<<0)     /**< Transfer completed.        */

-/** @} */

-

-/**

- * @name HCINTMSK register bit definitions

- * @{

- */

-#define HCINTMSK_DTERRM         (1U<<10)    /**< Data toggle error mask.    */

-#define HCINTMSK_FRMORM         (1U<<9)     /**< Frame overrun mask.        */

-#define HCINTMSK_BBERRM         (1U<<8)     /**< Babble error mask.         */

-#define HCINTMSK_TRERRM         (1U<<7)     /**< Transaction error mask.    */

-#define HCINTMSK_NYET           (1U<<6)     /**< NYET response received

-                                                 interrupt mask.            */

-#define HCINTMSK_ACKM           (1U<<5)     /**< ACK Response

-                                                 received/transmitted

-                                                 interrupt mask.            */

-#define HCINTMSK_NAKM           (1U<<4)     /**< NAK response received

-                                                 interrupt mask.            */

-#define HCINTMSK_STALLM         (1U<<3)     /**< STALL response received

-                                                 interrupt mask.            */

-#define HCINTMSK_AHBERRM        (1U<<2)

-#define HCINTMSK_CHHM           (1U<<1)     /**< Channel halted mask.       */

-#define HCINTMSK_XFRCM          (1U<<0)     /**< Transfer completed mask.   */

-/** @} */

-

-/**

- * @name HCTSIZ register bit definitions

- * @{

- */

-#define HCTSIZ_DPID_MASK        (3U<<29)    /**< PID mask.                  */

-#define HCTSIZ_DPID_DATA0       (0U<<29)    /**< DATA0.                     */

-#define HCTSIZ_DPID_DATA2       (1U<<29)    /**< DATA2.                     */

-#define HCTSIZ_DPID_DATA1       (2U<<29)    /**< DATA1.                     */

-#define HCTSIZ_DPID_MDATA       (3U<<29)    /**< MDATA.                     */

-#define HCTSIZ_DPID_SETUP       (3U<<29)    /**< SETUP.                     */

-#define HCTSIZ_PKTCNT_MASK      (0x3FFU<<19)/**< Packet count mask.         */

-#define HCTSIZ_PKTCNT(n)        ((n)<<19)   /**< Packet count value.        */

-#define HCTSIZ_XFRSIZ_MASK      (0x7FFFF<<0)/**< Transfer size mask.        */

-#define HCTSIZ_XFRSIZ(n)        ((n)<<0)    /**< Transfer size value.       */

-/** @} */

-

-/**

- * @name DCFG register bit definitions

- * @{

- */

-#define DCFG_PFIVL_MASK         (3U<<11)    /**< Periodic frame interval

-                                                 mask.                      */

-#define DCFG_PFIVL(n)           ((n)<<11)   /**< Periodic frame interval

-                                                 value.                     */

-#define DCFG_DAD_MASK           (0x7FU<<4)  /**< Device address mask.       */

-#define DCFG_DAD(n)             ((n)<<4)    /**< Device address value.      */

-#define DCFG_NZLSOHSK           (1U<<2)     /**< Non-Zero-Length status

-                                                 OUT handshake.             */

-#define DCFG_DSPD_MASK          (3U<<0)     /**< Device speed mask.         */

-#define DCFG_DSPD_HS            (0U<<0)     /**< High speed (USB 2.0).      */

-#define DCFG_DSPD_HS_FS         (1U<<0)     /**< High speed (USB 2.0) in FS

-                                                 mode.                      */

-#define DCFG_DSPD_FS11          (3U<<0)     /**< Full speed (USB 1.1

-                                                 transceiver clock is 48

-                                                 MHz).                      */

-/** @} */

-

-/**

- * @name DCTL register bit definitions

- * @{

- */

-#define DCTL_POPRGDNE           (1U<<11)    /**< Power-on programming done. */

-#define DCTL_CGONAK             (1U<<10)    /**< Clear global OUT NAK.      */

-#define DCTL_SGONAK             (1U<<9)     /**< Set global OUT NAK.        */

-#define DCTL_CGINAK             (1U<<8)     /**< Clear global non-periodic

-                                                 IN NAK.                    */

-#define DCTL_SGINAK             (1U<<7)     /**< Set global non-periodic

-                                                 IN NAK.                    */

-#define DCTL_TCTL_MASK          (7U<<4)     /**< Test control mask.         */

-#define DCTL_TCTL(n)            ((n)<<4     /**< Test control value.        */

-#define DCTL_GONSTS             (1U<<3)     /**< Global OUT NAK status.     */

-#define DCTL_GINSTS             (1U<<2)     /**< Global non-periodic IN

-                                                 NAK status.                */

-#define DCTL_SDIS               (1U<<1)     /**< Soft disconnect.           */

-#define DCTL_RWUSIG             (1U<<0)     /**< Remote wakeup signaling.   */

-/** @} */

-

-/**

- * @name DSTS register bit definitions

- * @{

- */

-#define DSTS_FNSOF_MASK         (0x3FFU<<8) /**< Frame number of the received

-                                                 SOF mask.                  */

-#define DSTS_FNSOF(n)           ((n)<<8)    /**< Frame number of the received

-                                                 SOF value.                 */

-#define DSTS_FNSOF_ODD          (1U<<8)     /**< Frame parity of the received

-                                                 SOF value.                 */

-#define DSTS_EERR               (1U<<3)     /**< Erratic error.             */

-#define DSTS_ENUMSPD_MASK       (3U<<1)     /**< Enumerated speed mask.     */

-#define DSTS_ENUMSPD_FS_48      (3U<<1)     /**< Full speed (PHY clock is

-                                                 running at 48 MHz).        */

-#define DSTS_ENUMSPD_HS_480     (0U<<1)     /**< High speed.                */

-#define DSTS_SUSPSTS            (1U<<0)     /**< Suspend status.            */

-/** @} */

-

-/**

- * @name DIEPMSK register bit definitions

- * @{

- */

-#define DIEPMSK_TXFEM           (1U<<6)     /**< Transmit FIFO empty mask.  */

-#define DIEPMSK_INEPNEM         (1U<<6)     /**< IN endpoint NAK effective

-                                                 mask.                      */

-#define DIEPMSK_ITTXFEMSK       (1U<<4)     /**< IN token received when

-                                                 TxFIFO empty mask.         */

-#define DIEPMSK_TOCM            (1U<<3)     /**< Timeout condition mask.    */

-#define DIEPMSK_EPDM            (1U<<1)     /**< Endpoint disabled

-                                                 interrupt mask.            */

-#define DIEPMSK_XFRCM           (1U<<0)     /**< Transfer completed

-                                                 interrupt mask.            */

-/** @} */

-

-/**

- * @name DOEPMSK register bit definitions

- * @{

- */

-#define DOEPMSK_OTEPDM          (1U<<4)     /**< OUT token received when

-                                                 endpoint disabled mask.    */

-#define DOEPMSK_STUPM           (1U<<3)     /**< SETUP phase done mask.     */

-#define DOEPMSK_EPDM            (1U<<1)     /**< Endpoint disabled

-                                                 interrupt mask.            */

-#define DOEPMSK_XFRCM           (1U<<0)     /**< Transfer completed

-                                                 interrupt mask.            */

-/** @} */

-

-/**

- * @name DAINT register bit definitions

- * @{

- */

-#define DAINT_OEPINT_MASK       (0xFFFFU<<16)/**< OUT endpoint interrupt

-                                                 bits mask.                 */

-#define DAINT_OEPINT(n)         ((n)<<16)   /**< OUT endpoint interrupt

-                                                 bits value.                */

-#define DAINT_IEPINT_MASK       (0xFFFFU<<0)/**< IN endpoint interrupt

-                                                 bits mask.                 */

-#define DAINT_IEPINT(n)         ((n)<<0)    /**< IN endpoint interrupt

-                                                 bits value.                */

-/** @} */

-

-/**

- * @name DAINTMSK register bit definitions

- * @{

- */

-#define DAINTMSK_OEPM_MASK      (0xFFFFU<<16)/**< OUT EP interrupt mask

-                                                 bits mask.                 */

-#define DAINTMSK_OEPM(n)        (1U<<(16+(n)))/**< OUT EP interrupt mask

-                                                 bits value.                */

-#define DAINTMSK_IEPM_MASK      (0xFFFFU<<0)/**< IN EP interrupt mask

-                                                 bits mask.                 */

-#define DAINTMSK_IEPM(n)        (1U<<(n))   /**< IN EP interrupt mask

-                                                 bits value.                */

-/** @} */

-

-/**

- * @name DVBUSDIS register bit definitions

- * @{

- */

-#define DVBUSDIS_VBUSDT_MASK    (0xFFFFU<<0)/**< Device VBUS discharge

-                                                 time mask.                 */

-#define DVBUSDIS_VBUSDT(n)      ((n)<<0)    /**< Device VBUS discharge

-                                                 time value.                */

-/** @} */

-

-/**

- * @name DVBUSPULSE register bit definitions

- * @{

- */

-#define DVBUSPULSE_DVBUSP_MASK  (0xFFFU<<0) /**< Device VBUSpulsing time

-                                                 mask.                      */

-#define DVBUSPULSE_DVBUSP(n)    ((n)<<0)    /**< Device VBUS pulsing time

-                                                 value.                     */

-/** @} */

-

-/**

- * @name DIEPEMPMSK register bit definitions

- * @{

- */

-#define DIEPEMPMSK_INEPTXFEM(n) (1U<<(n))   /**< IN EP Tx FIFO empty

-                                                 interrupt mask bit.        */

-/** @} */

-

-/**

- * @name DIEPCTL register bit definitions

- * @{

- */

-#define DIEPCTL_EPENA           (1U<<31)    /**< Endpoint enable.           */

-#define DIEPCTL_EPDIS           (1U<<30)    /**< Endpoint disable.          */

-#define DIEPCTL_SD1PID          (1U<<29)    /**< Set DATA1 PID.             */

-#define DIEPCTL_SODDFRM         (1U<<29)    /**< Set odd frame.             */

-#define DIEPCTL_SD0PID          (1U<<28)    /**< Set DATA0 PID.             */

-#define DIEPCTL_SEVNFRM         (1U<<28)    /**< Set even frame.            */

-#define DIEPCTL_SNAK            (1U<<27)    /**< Set NAK.                   */

-#define DIEPCTL_CNAK            (1U<<26)    /**< Clear NAK.                 */

-#define DIEPCTL_TXFNUM_MASK     (15U<<22)   /**< TxFIFO number mask.        */

-#define DIEPCTL_TXFNUM(n)       ((n)<<22)   /**< TxFIFO number value.       */

-#define DIEPCTL_STALL           (1U<<21)    /**< STALL handshake.           */

-#define DIEPCTL_SNPM            (1U<<20)    /**< Snoop mode.                */

-#define DIEPCTL_EPTYP_MASK      (3<<18)     /**< Endpoint type mask.        */

-#define DIEPCTL_EPTYP_CTRL      (0U<<18)    /**< Control.                   */

-#define DIEPCTL_EPTYP_ISO       (1U<<18)    /**< Isochronous.               */

-#define DIEPCTL_EPTYP_BULK      (2U<<18)    /**< Bulk.                      */

-#define DIEPCTL_EPTYP_INTR      (3U<<18)    /**< Interrupt.                 */

-#define DIEPCTL_NAKSTS          (1U<<17)    /**< NAK status.                */

-#define DIEPCTL_EONUM           (1U<<16)    /**< Even/odd frame.            */

-#define DIEPCTL_DPID            (1U<<16)    /**< Endpoint data PID.         */

-#define DIEPCTL_USBAEP          (1U<<15)    /**< USB active endpoint.       */

-#define DIEPCTL_MPSIZ_MASK      (0x3FFU<<0) /**< Maximum Packet size mask.  */

-#define DIEPCTL_MPSIZ(n)        ((n)<<0)    /**< Maximum Packet size value. */

-/** @} */

-

-/**

- * @name DIEPINT register bit definitions

- * @{

- */

-#define DIEPINT_TXFE            (1U<<7)     /**< Transmit FIFO empty.       */

-#define DIEPINT_INEPNE          (1U<<6)     /**< IN endpoint NAK effective. */

-#define DIEPINT_ITTXFE          (1U<<4)     /**< IN Token received when

-                                                 TxFIFO is empty.           */

-#define DIEPINT_TOC             (1U<<3)     /**< Timeout condition.         */

-#define DIEPINT_EPDISD          (1U<<1)     /**< Endpoint disabled

-                                                 interrupt.                 */

-#define DIEPINT_XFRC            (1U<<0)     /**< Transfer completed.        */

-/** @} */

-

-/**

- * @name DIEPTSIZ register bit definitions

- * @{

- */

-#define DIEPTSIZ_MCNT_MASK      (3U<<29)    /**< Multi count mask.          */

-#define DIEPTSIZ_MCNT(n)        ((n)<<29)   /**< Multi count value.         */

-#define DIEPTSIZ_PKTCNT_MASK    (0x3FF<<19) /**< Packet count mask.         */

-#define DIEPTSIZ_PKTCNT(n)      ((n)<<19)   /**< Packet count value.        */

-#define DIEPTSIZ_XFRSIZ_MASK    (0x7FFFFU<<0)/**< Transfer size mask.       */

-#define DIEPTSIZ_XFRSIZ(n)      ((n)<<0)    /**< Transfer size value.       */

-/** @} */

-

-/**

- * @name DTXFSTS register bit definitions.

- * @{

- */

-#define DTXFSTS_INEPTFSAV_MASK  (0xFFFF<<0) /**< IN endpoint TxFIFO space

-                                                 available.                 */

-/** @} */

-

-/**

- * @name DOEPCTL register bit definitions.

- * @{

- */

-#define DOEPCTL_EPENA           (1U<<31)    /**< Endpoint enable.           */

-#define DOEPCTL_EPDIS           (1U<<30)    /**< Endpoint disable.          */

-#define DOEPCTL_SD1PID          (1U<<29)    /**< Set DATA1 PID.             */

-#define DOEPCTL_SODDFRM         (1U<<29)    /**< Set odd frame.             */

-#define DOEPCTL_SD0PID          (1U<<28)    /**< Set DATA0 PID.             */

-#define DOEPCTL_SEVNFRM         (1U<<28)    /**< Set even frame.            */

-#define DOEPCTL_SNAK            (1U<<27)    /**< Set NAK.                   */

-#define DOEPCTL_CNAK            (1U<<26)    /**< Clear NAK.                 */

-#define DOEPCTL_STALL           (1U<<21)    /**< STALL handshake.           */

-#define DOEPCTL_SNPM            (1U<<20)    /**< Snoop mode.                */

-#define DOEPCTL_EPTYP_MASK      (3U<<18)    /**< Endpoint type mask.        */

-#define DOEPCTL_EPTYP_CTRL      (0U<<18)    /**< Control.                   */

-#define DOEPCTL_EPTYP_ISO       (1U<<18)    /**< Isochronous.               */

-#define DOEPCTL_EPTYP_BULK      (2U<<18)    /**< Bulk.                      */

-#define DOEPCTL_EPTYP_INTR      (3U<<18)    /**< Interrupt.                 */

-#define DOEPCTL_NAKSTS          (1U<<17)    /**< NAK status.                */

-#define DOEPCTL_EONUM           (1U<<16)    /**< Even/odd frame.            */

-#define DOEPCTL_DPID            (1U<<16)    /**< Endpoint data PID.         */

-#define DOEPCTL_USBAEP          (1U<<15)    /**< USB active endpoint.       */

-#define DOEPCTL_MPSIZ_MASK      (0x3FFU<<0) /**< Maximum Packet size mask.  */

-#define DOEPCTL_MPSIZ(n)        ((n)<<0)    /**< Maximum Packet size value. */

-/** @} */

-

-/**

- * @name DOEPINT register bit definitions

- * @{

- */

-#define DOEPINT_B2BSTUP         (1U<<6)     /**< Back-to-back SETUP packets

-                                                 received.                  */

-#define DOEPINT_OTEPDIS         (1U<<4)     /**< OUT token received when

-                                                 endpoint disabled.         */

-#define DOEPINT_STUP            (1U<<3)     /**< SETUP phase done.          */

-#define DOEPINT_EPDISD          (1U<<1)     /**< Endpoint disabled

-                                                 interrupt.                 */

-#define DOEPINT_XFRC            (1U<<0)     /**< Transfer completed

-                                                 interrupt.                 */

-/** @} */

-

-/**

- * @name DOEPTSIZ register bit definitions

- * @{

- */

-#define DOEPTSIZ_RXDPID_MASK    (3U<<29)    /**< Received data PID mask.    */

-#define DOEPTSIZ_RXDPID(n)      ((n)<<29)   /**< Received data PID value.   */

-#define DOEPTSIZ_STUPCNT_MASK   (3U<<29)    /**< SETUP packet count mask.   */

-#define DOEPTSIZ_STUPCNT(n)     ((n)<<29)   /**< SETUP packet count value.  */

-#define DOEPTSIZ_PKTCNT_MASK    (0x3FFU<<19)/**< Packet count mask.         */

-#define DOEPTSIZ_PKTCNT(n)      ((n)<<19)   /**< Packet count value.        */

-#define DOEPTSIZ_XFRSIZ_MASK    (0x7FFFFU<<0)/**< Transfer size mask.       */

-#define DOEPTSIZ_XFRSIZ(n)      ((n)<<0)    /**< Transfer size value.       */

-/** @} */

-

-/**

- * @name PCGCCTL register bit definitions

- * @{

- */

-#define PCGCCTL_PHYSUSP         (1U<<4)     /**< PHY Suspended.             */

-#define PCGCCTL_GATEHCLK        (1U<<1)     /**< Gate HCLK.                 */

-#define PCGCCTL_STPPCLK         (1U<<0)     /**< Stop PCLK.                 */

-/** @} */

-

-/**

- * @brief   OTG_FS registers block memory address.

- */

-#define OTG_FS_ADDR                 0x50000000

-

-/**

- * @brief   OTG_HS registers block memory address.

- */

-#define OTG_HS_ADDR                 0x40040000

-

-/**

- * @brief   Accesses to the OTG_FS registers block.

- */

-#define OTG_FS                      ((stm32_otg_t *)OTG_FS_ADDR)

-

-/**

- * @brief   Accesses to the OTG_HS registers block.

- */

-#define OTG_HS                      ((stm32_otg_t *)OTG_HS_ADDR)

-

-#endif /* _STM32_OTG_H_ */

-

-/** @} */

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    stm32_otg.h
+ * @brief   STM32 OTG registers layout header.
+ *
+ * @addtogroup USB
+ * @{
+ */
+
+
+#ifndef _STM32_OTG_H_
+#define _STM32_OTG_H_
+
+/**
+ * @brief   Number of the implemented endpoints in OTG_FS.
+ * @details This value does not include the endpoint 0 that is always present.
+ */
+#define STM32_OTG1_ENDOPOINTS_NUMBER    3
+
+/**
+ * @brief   Number of the implemented endpoints in OTG_HS.
+ * @details This value does not include the endpoint 0 that is always present.
+ */
+#define STM32_OTG2_ENDOPOINTS_NUMBER    5
+
+/**
+ * @brief   OTG_FS FIFO memory size in words.
+ */
+#define STM32_OTG1_FIFO_MEM_SIZE        320
+
+/**
+ * @brief   OTG_HS FIFO memory size in words.
+ */
+#define STM32_OTG2_FIFO_MEM_SIZE        1024
+
+/**
+ * @brief   Host channel registers group.
+ */
+typedef struct {
+  volatile uint32_t HCCHAR;     /**< @brief Host channel characteristics
+                                            register.                       */
+  volatile uint32_t resvd8;
+  volatile uint32_t HCINT;      /**< @brief Host channel interrupt register.*/
+  volatile uint32_t HCINTMSK;   /**< @brief Host channel interrupt mask
+                                            register.                       */
+  volatile uint32_t HCTSIZ;     /**< @brief Host channel transfer size
+                                            register.                       */
+  volatile uint32_t resvd14;
+  volatile uint32_t resvd18;
+  volatile uint32_t resvd1c;
+} stm32_otg_host_chn_t;
+
+/**
+ * @brief   Device input endpoint registers group.
+ */
+typedef struct {
+  volatile uint32_t DIEPCTL;    /**< @brief Device control IN endpoint
+                                            control register.               */
+  volatile uint32_t resvd4;
+  volatile uint32_t DIEPINT;    /**< @brief Device IN endpoint interrupt
+                                            register.                       */
+  volatile uint32_t resvdC;
+  volatile uint32_t DIEPTSIZ;   /**< @brief Device IN endpoint transfer size
+                                            register.                       */
+  volatile uint32_t resvd14;
+  volatile uint32_t DTXFSTS;    /**< @brief Device IN endpoint transmit FIFO
+                                            status register.                */
+  volatile uint32_t resvd1C;
+} stm32_otg_in_ep_t;
+
+/**
+ * @brief   Device output endpoint registers group.
+ */
+typedef struct {
+  volatile uint32_t DOEPCTL;    /**< @brief Device control OUT endpoint
+                                            control register.               */
+  volatile uint32_t resvd4;
+  volatile uint32_t DOEPINT;    /**< @brief Device OUT endpoint interrupt
+                                            register.                       */
+  volatile uint32_t resvdC;
+  volatile uint32_t DOEPTSIZ;   /**< @brief Device OUT endpoint transfer
+                                            size register.                  */
+  volatile uint32_t resvd14;
+  volatile uint32_t resvd18;
+  volatile uint32_t resvd1C;
+} stm32_otg_out_ep_t;
+
+/**
+ * @brief   USB registers memory map.
+ */
+typedef struct {
+  volatile uint32_t GOTGCTL;    /**< @brief OTG control and status register.*/
+  volatile uint32_t GOTGINT;    /**< @brief OTG interrupt register.         */
+  volatile uint32_t GAHBCFG;    /**< @brief AHB configuration register.     */
+  volatile uint32_t GUSBCFG;    /**< @brief USB configuration register.     */
+  volatile uint32_t GRSTCTL;    /**< @brief Reset register size.            */
+  volatile uint32_t GINTSTS;    /**< @brief Interrupt register.             */
+  volatile uint32_t GINTMSK;    /**< @brief Interrupt mask register.        */
+  volatile uint32_t GRXSTSR;    /**< @brief Receive status debug read
+                                            register.                       */
+  volatile uint32_t GRXSTSP;    /**< @brief Receive status read/pop
+                                            register.                       */
+  volatile uint32_t GRXFSIZ;    /**< @brief Receive FIFO size register.     */
+  volatile uint32_t DIEPTXF0;   /**< @brief Endpoint 0 transmit FIFO size
+                                            register.                       */
+  volatile uint32_t HNPTXSTS;   /**< @brief Non-periodic transmit FIFO/queue
+                                            status register.                */
+  volatile uint32_t resvd30;
+  volatile uint32_t resvd34;
+  volatile uint32_t GCCFG;      /**< @brief General core configuration.     */
+  volatile uint32_t CID;        /**< @brief Core ID register.               */
+  volatile uint32_t resvd58[48];
+  volatile uint32_t HPTXFSIZ;   /**< @brief Host periodic transmit FIFO size
+                                            register.                       */
+  volatile uint32_t DIEPTXF[15];/**< @brief Device IN endpoint transmit FIFO
+                                            size registers.                 */
+  volatile uint32_t resvd140[176];
+  volatile uint32_t HCFG;       /**< @brief Host configuration register.    */
+  volatile uint32_t HFIR;       /**< @brief Host frame interval register.   */
+  volatile uint32_t HFNUM;      /**< @brief Host frame number/frame time
+                                            Remaining register.             */
+  volatile uint32_t resvd40C;
+  volatile uint32_t HPTXSTS;    /**< @brief Host periodic transmit FIFO/queue
+                                            status register.                */
+  volatile uint32_t HAINT;      /**< @brief Host all channels interrupt
+                                            register.                       */
+  volatile uint32_t HAINTMSK;   /**< @brief Host all channels interrupt mask
+                                            register.                       */
+  volatile uint32_t resvd41C[9];
+  volatile uint32_t HPRT;       /**< @brief Host port control and status
+                                            register.                       */
+  volatile uint32_t resvd444[47];
+  stm32_otg_host_chn_t hc[16];  /**< @brief Host channels array.            */
+  volatile uint32_t resvd700[64];
+  volatile uint32_t DCFG;       /**< @brief Device configuration register.  */
+  volatile uint32_t DCTL;       /**< @brief Device control register.        */
+  volatile uint32_t DSTS;       /**< @brief Device status register.         */
+  volatile uint32_t resvd80C;
+  volatile uint32_t DIEPMSK;    /**< @brief Device IN endpoint common
+                                            interrupt mask register.        */
+  volatile uint32_t DOEPMSK;    /**< @brief Device OUT endpoint common
+                                            interrupt mask register.        */
+  volatile uint32_t DAINT;      /**< @brief Device all endpoints interrupt
+                                            register.                       */
+  volatile uint32_t DAINTMSK;   /**< @brief Device all endpoints interrupt
+                                            mask register.                  */
+  volatile uint32_t resvd820;
+  volatile uint32_t resvd824;
+  volatile uint32_t DVBUSDIS;   /**< @brief Device VBUS discharge time
+                                            register.                       */
+  volatile uint32_t DVBUSPULSE; /**< @brief Device VBUS pulsing time
+                                            register.                       */
+  volatile uint32_t resvd830;
+  volatile uint32_t DIEPEMPMSK; /**< @brief Device IN endpoint FIFO empty
+                                            interrupt mask register.        */
+  volatile uint32_t resvd838;
+  volatile uint32_t resvd83C;
+  volatile uint32_t resvd840[16];
+  volatile uint32_t resvd880[16];
+  volatile uint32_t resvd8C0[16];
+  stm32_otg_in_ep_t ie[16];     /**< @brief Input endpoints.                */
+  stm32_otg_out_ep_t oe[16];    /**< @brief Output endpoints.               */
+  volatile uint32_t resvdD00[64];
+  volatile uint32_t PCGCCTL;    /**< @brief Power and clock gating control
+                                            register.                       */
+  volatile uint32_t resvdE04[127];
+  volatile uint32_t FIFO[16][1024];
+} stm32_otg_t;
+
+/**
+ * @name GOTGCTL register bit definitions
+ * @{
+ */
+#define GOTGCTL_BSVLD           (1U<<19)    /**< B-Session Valid.           */
+#define GOTGCTL_ASVLD           (1U<<18)    /**< A-Session Valid.           */
+#define GOTGCTL_DBCT            (1U<<17)    /**< Long/Short debounce time.  */
+#define GOTGCTL_CIDSTS          (1U<<16)    /**< Connector ID status.       */
+#define GOTGCTL_EHEN            (1U<<12)
+#define GOTGCTL_DHNPEN          (1U<<11)    /**< Device HNP enabled.        */
+#define GOTGCTL_HSHNPEN         (1U<<10)    /**< Host Set HNP enable.       */
+#define GOTGCTL_HNPRQ           (1U<<9)     /**< HNP request.               */
+#define GOTGCTL_HNGSCS          (1U<<8)     /**< Host negotiation success.  */
+#define GOTGCTL_BVALOVAL        (1U<<7)
+#define GOTGCTL_BVALOEN         (1U<<6)
+#define GOTGCTL_AVALOVAL        (1U<<5)
+#define GOTGCTL_AVALOEN         (1U<<4)
+#define GOTGCTL_VBVALOVAL       (1U<<3)
+#define GOTGCTL_VBVALOEN        (1U<<2)
+#define GOTGCTL_SRQ             (1U<<1)     /**< Session request.           */
+#define GOTGCTL_SRQSCS          (1U<<0)     /**< Session request success.   */
+/** @} */
+
+/**
+ * @name GOTGINT register bit definitions
+ * @{
+ */
+#define GOTGINT_DBCDNE          (1U<<19)    /**< Debounce done.             */
+#define GOTGINT_ADTOCHG         (1U<<18)    /**< A-Device timeout change.   */
+#define GOTGINT_HNGDET          (1U<<17)    /**< Host negotiation detected. */
+#define GOTGINT_HNSSCHG         (1U<<9)     /**< Host negotiation success
+                                                 status change.             */
+#define GOTGINT_SRSSCHG         (1U<<8)     /**< Session request success
+                                                 status change.             */
+#define GOTGINT_SEDET           (1U<<2)     /**< Session end detected.      */
+/** @} */
+
+/**
+ * @name GAHBCFG register bit definitions
+ * @{
+ */
+#define GAHBCFG_PTXFELVL        (1U<<8)     /**< Periodic TxFIFO empty
+                                                 level.                     */
+#define GAHBCFG_TXFELVL         (1U<<7)     /**< Non-periodic TxFIFO empty
+                                                 level.                     */
+#define GAHBCFG_DMAEN           (1U<<5)     /**< DMA enable (HS only).      */
+#define GAHBCFG_HBSTLEN_MASK    (15U<<1)    /**< Burst length/type mask (HS
+                                                 only).                     */
+#define GAHBCFG_HBSTLEN(n)      ((n)<<1)    /**< Burst length/type (HS
+                                                 only).                     */
+#define GAHBCFG_GINTMSK         (1U<<0)     /**< Global interrupt mask.     */
+/** @} */
+
+/**
+ * @name GUSBCFG register bit definitions
+ * @{
+ */
+#define GUSBCFG_CTXPKT          (1U<<31)    /**< Corrupt Tx packet.         */
+#define GUSBCFG_FDMOD           (1U<<30)    /**< Force Device Mode.         */
+#define GUSBCFG_FHMOD           (1U<<29)    /**< Force Host Mode.           */
+#define GUSBCFG_TRDT_MASK       (15U<<10)   /**< USB Turnaround time field
+                                                 mask.                      */
+#define GUSBCFG_TRDT(n)         ((n)<<10)   /**< USB Turnaround time field
+                                                 value.                     */
+#define GUSBCFG_HNPCAP          (1U<<9)     /**< HNP-Capable.               */
+#define GUSBCFG_SRPCAP          (1U<<8)     /**< SRP-Capable.               */
+#define GUSBCFG_PHYSEL          (1U<<6)     /**< USB 2.0 High-Speed PHY or
+                                                 USB 1.1 Full-Speed serial
+                                                 transceiver Select.        */
+#define GUSBCFG_TOCAL_MASK      (7U<<0)     /**< HS/FS timeout calibration
+                                                 field mask.                */
+#define GUSBCFG_TOCAL(n)        ((n)<<0)    /**< HS/FS timeout calibration
+                                                 field value.               */
+/** @} */
+
+/**
+ * @name GRSTCTL register bit definitions
+ * @{
+ */
+#define GRSTCTL_AHBIDL          (1U<<31)    /**< AHB Master Idle.           */
+#define GRSTCTL_TXFNUM_MASK     (31U<<6)    /**< TxFIFO number field mask.  */
+#define GRSTCTL_TXFNUM(n)       ((n)<<6)    /**< TxFIFO number field value. */
+#define GRSTCTL_TXFFLSH         (1U<<5)     /**< TxFIFO flush.              */
+#define GRSTCTL_RXFFLSH         (1U<<4)     /**< RxFIFO flush.              */
+#define GRSTCTL_FCRST           (1U<<2)     /**< Host frame counter reset.  */
+#define GRSTCTL_HSRST           (1U<<1)     /**< HClk soft reset.           */
+#define GRSTCTL_CSRST           (1U<<0)     /**< Core soft reset.           */
+/** @} */
+
+/**
+ * @name GINTSTS register bit definitions
+ * @{
+ */
+#define GINTSTS_WKUPINT         (1U<<31)    /**< Resume/Remote wakeup
+                                                 detected interrupt.        */
+#define GINTSTS_SRQINT          (1U<<30)    /**< Session request/New session
+                                                 detected interrupt.        */
+#define GINTSTS_DISCINT         (1U<<29)    /**< Disconnect detected
+                                                 interrupt.                 */
+#define GINTSTS_CIDSCHG         (1U<<28)    /**< Connector ID status change.*/
+#define GINTSTS_PTXFE           (1U<<26)    /**< Periodic TxFIFO empty.     */
+#define GINTSTS_HCINT           (1U<<25)    /**< Host channels interrupt.   */
+#define GINTSTS_HPRTINT         (1U<<24)    /**< Host port interrupt.       */
+#define GINTSTS_IPXFR           (1U<<21)    /**< Incomplete periodic
+                                                 transfer.                  */
+#define GINTSTS_IISOOXFR        (1U<<21)    /**< Incomplete isochronous OUT
+                                                 transfer.                  */
+#define GINTSTS_IISOIXFR        (1U<<20)    /**< Incomplete isochronous IN
+                                                 transfer.                  */
+#define GINTSTS_OEPINT          (1U<<19)    /**< OUT endpoints interrupt.   */
+#define GINTSTS_IEPINT          (1U<<18)    /**< IN endpoints interrupt.    */
+#define GINTSTS_EOPF            (1U<<15)    /**< End of periodic frame
+                                                 interrupt.                 */
+#define GINTSTS_ISOODRP         (1U<<14)    /**< Isochronous OUT packet
+                                                 dropped interrupt.         */
+#define GINTSTS_ENUMDNE         (1U<<13)    /**< Enumeration done.          */
+#define GINTSTS_USBRST          (1U<<12)    /**< USB reset.                 */
+#define GINTSTS_USBSUSP         (1U<<11)    /**< USB suspend.               */
+#define GINTSTS_ESUSP           (1U<<10)    /**< Early suspend.             */
+#define GINTSTS_GONAKEFF        (1U<<7)     /**< Global OUT NAK effective.  */
+#define GINTSTS_GINAKEFF        (1U<<6)     /**< Global IN non-periodic NAK
+                                                 effective.                 */
+#define GINTSTS_NPTXFE          (1U<<5)     /**< Non-periodic TxFIFO empty. */
+#define GINTSTS_RXFLVL          (1U<<4)     /**< RxFIFO non-empty.          */
+#define GINTSTS_SOF             (1U<<3)     /**< Start of frame.            */
+#define GINTSTS_OTGINT          (1U<<2)     /**< OTG interrupt.             */
+#define GINTSTS_MMIS            (1U<<1)     /**< Mode Mismatch interrupt.   */
+#define GINTSTS_CMOD            (1U<<0)     /**< Current mode of operation. */
+/** @} */
+
+/**
+ * @name GINTMSK register bit definitions
+ * @{
+ */
+#define GINTMSK_WKUM            (1U<<31)    /**< Resume/remote wakeup
+                                                 detected interrupt mask.   */
+#define GINTMSK_SRQM            (1U<<30)    /**< Session request/New session
+                                                 detected interrupt mask.   */
+#define GINTMSK_DISCM           (1U<<29)    /**< Disconnect detected
+                                                 interrupt mask.            */
+#define GINTMSK_CIDSCHGM        (1U<<28)    /**< Connector ID status change
+                                                 mask.                      */
+#define GINTMSK_PTXFEM          (1U<<26)    /**< Periodic TxFIFO empty mask.*/
+#define GINTMSK_HCM             (1U<<25)    /**< Host channels interrupt
+                                                 mask.                      */
+#define GINTMSK_HPRTM           (1U<<24)    /**< Host port interrupt mask.  */
+#define GINTMSK_IPXFRM          (1U<<21)    /**< Incomplete periodic
+                                                 transfer mask.             */
+#define GINTMSK_IISOOXFRM       (1U<<21)    /**< Incomplete isochronous OUT
+                                                 transfer mask.             */
+#define GINTMSK_IISOIXFRM       (1U<<20)    /**< Incomplete isochronous IN
+                                                 transfer mask.             */
+#define GINTMSK_OEPM            (1U<<19)    /**< OUT endpoints interrupt
+                                                 mask.                      */
+#define GINTMSK_IEPM            (1U<<18)    /**< IN endpoints interrupt
+                                                 mask.                      */
+#define GINTMSK_EOPFM           (1U<<15)    /**< End of periodic frame
+                                                 interrupt mask.            */
+#define GINTMSK_ISOODRPM        (1U<<14)    /**< Isochronous OUT packet
+                                                 dropped interrupt mask.    */
+#define GINTMSK_ENUMDNEM        (1U<<13)    /**< Enumeration done mask.     */
+#define GINTMSK_USBRSTM         (1U<<12)    /**< USB reset mask.            */
+#define GINTMSK_USBSUSPM        (1U<<11)    /**< USB suspend mask.          */
+#define GINTMSK_ESUSPM          (1U<<10)    /**< Early suspend mask.        */
+#define GINTMSK_GONAKEFFM       (1U<<7)     /**< Global OUT NAK effective
+                                                 mask.                      */
+#define GINTMSK_GINAKEFFM       (1U<<6)     /**< Global non-periodic IN NAK
+                                                 effective mask.            */
+#define GINTMSK_NPTXFEM         (1U<<5)     /**< Non-periodic TxFIFO empty
+                                                 mask.                      */
+#define GINTMSK_RXFLVLM         (1U<<4)     /**< Receive FIFO non-empty
+                                                 mask.                      */
+#define GINTMSK_SOFM            (1U<<3)     /**< Start of (micro)frame mask.*/
+#define GINTMSK_OTGM            (1U<<2)     /**< OTG interrupt mask.        */
+#define GINTMSK_MMISM           (1U<<1)     /**< Mode Mismatch interrupt
+                                                 mask.                      */
+/** @} */
+
+/**
+ * @name GRXSTSR register bit definitions
+ * @{
+ */
+#define GRXSTSR_PKTSTS_MASK     (15U<<17)   /**< Packet status mask.        */
+#define GRXSTSR_PKTSTS(n)       ((n)<<17)   /**< Packet status value.       */
+#define GRXSTSR_OUT_GLOBAL_NAK  GRXSTSR_PKTSTS(1)
+#define GRXSTSR_OUT_DATA        GRXSTSR_PKTSTS(2)
+#define GRXSTSR_OUT_COMP        GRXSTSR_PKTSTS(3)
+#define GRXSTSR_SETUP_COMP      GRXSTSR_PKTSTS(4)
+#define GRXSTSR_SETUP_DATA      GRXSTSR_PKTSTS(6)
+#define GRXSTSR_DPID_MASK       (3U<<15)    /**< Data PID mask.             */
+#define GRXSTSR_DPID(n)         ((n)<<15)   /**< Data PID value.            */
+#define GRXSTSR_BCNT_MASK       (0x7FF<<4)  /**< Byte count mask.           */
+#define GRXSTSR_BCNT(n)         ((n)<<4)    /**< Byte count value.          */
+#define GRXSTSR_CHNUM_MASK      (15U<<0)    /**< Channel number mask.       */
+#define GRXSTSR_CHNUM(n)        ((n)<<0)    /**< Channel number value.      */
+#define GRXSTSR_EPNUM_MASK      (15U<<0)    /**< Endpoint number mask.      */
+#define GRXSTSR_EPNUM(n)        ((n)<<0)    /**< Endpoint number value.     */
+/** @} */
+
+/**
+ * @name GRXSTSP register bit definitions
+ * @{
+ */
+#define GRXSTSP_PKTSTS_MASK     (15<<17)    /**< Packet status mask.        */
+#define GRXSTSP_PKTSTS(n)       ((n)<<17)   /**< Packet status value.       */
+#define GRXSTSP_OUT_GLOBAL_NAK  GRXSTSP_PKTSTS(1)
+#define GRXSTSP_OUT_DATA        GRXSTSP_PKTSTS(2)
+#define GRXSTSP_OUT_COMP        GRXSTSP_PKTSTS(3)
+#define GRXSTSP_SETUP_COMP      GRXSTSP_PKTSTS(4)
+#define GRXSTSP_SETUP_DATA      GRXSTSP_PKTSTS(6)
+#define GRXSTSP_DPID_MASK       (3U<<15)    /**< Data PID mask.             */
+#define GRXSTSP_DPID(n)         ((n)<<15)   /**< Data PID value.            */
+#define GRXSTSP_BCNT_MASK       (0x7FF<<4)  /**< Byte count mask.           */
+#define GRXSTSP_BCNT_OFF        4           /**< Byte count offset.         */
+#define GRXSTSP_BCNT(n)         ((n)<<4)    /**< Byte count value.          */
+#define GRXSTSP_CHNUM_MASK      (15U<<0)    /**< Channel number mask.       */
+#define GRXSTSP_CHNUM(n)        ((n)<<0)    /**< Channel number value.      */
+#define GRXSTSP_EPNUM_MASK      (15U<<0)    /**< Endpoint number mask.      */
+#define GRXSTSP_EPNUM_OFF       0           /**< Endpoint number offset.    */
+#define GRXSTSP_EPNUM(n)        ((n)<<0)    /**< Endpoint number value.     */
+/** @} */
+
+/**
+ * @name GRXFSIZ register bit definitions
+ * @{
+ */
+#define GRXFSIZ_RXFD_MASK       (0xFFFF<<0) /**< RxFIFO depth mask.         */
+#define GRXFSIZ_RXFD(n)         ((n)<<0)    /**< RxFIFO depth value.        */
+/** @} */
+
+/**
+ * @name DIEPTXFx register bit definitions
+ * @{
+ */
+#define DIEPTXF_INEPTXFD_MASK   (0xFFFFU<<16)/**< IN endpoint TxFIFO depth
+                                                 mask.                      */
+#define DIEPTXF_INEPTXFD(n)     ((n)<<16)   /**< IN endpoint TxFIFO depth
+                                                 value.                     */
+#define DIEPTXF_INEPTXSA_MASK   (0xFFFF<<0) /**< IN endpoint FIFOx transmit
+                                                 RAM start address mask.    */
+#define DIEPTXF_INEPTXSA(n)     ((n)<<0)    /**< IN endpoint FIFOx transmit
+                                                 RAM start address value.   */
+/** @} */
+
+/**
+ * @name GCCFG register bit definitions
+ * @{
+ */
+#define GCCFG_NOVBUSSENS        (1U<<21)    /**< VBUS sensing disable.      */
+#define GCCFG_SOFOUTEN          (1U<<20)    /**< SOF output enable.         */
+#define GCCFG_VBUSBSEN          (1U<<19)    /**< Enable the VBUS sensing "B"
+                                                 device.                    */
+#define GCCFG_VBUSASEN          (1U<<18)    /**< Enable the VBUS sensing "A"
+                                                 device.                    */
+#define GCCFG_PWRDWN            (1U<<16)    /**< Power down.                */
+/** @} */
+
+/**
+ * @name HPTXFSIZ register bit definitions
+ * @{
+ */
+#define HPTXFSIZ_PTXFD_MASK     (0xFFFFU<<16)/**< Host periodic TxFIFO
+                                                 depth mask.                */
+#define HPTXFSIZ_PTXFD(n)       ((n)<<16)   /**< Host periodic TxFIFO
+                                                 depth value.               */
+#define HPTXFSIZ_PTXSA_MASK     (0xFFFFU<<0)/**< Host periodic TxFIFO
+                                                 Start address mask.        */
+#define HPTXFSIZ_PTXSA(n)       ((n)<<0)    /**< Host periodic TxFIFO
+                                                 start address value.       */
+/** @} */
+
+/**
+ * @name HCFG register bit definitions
+ * @{
+ */
+#define HCFG_FSLSS              (1U<<2)     /**< FS- and LS-only support.   */
+#define HCFG_FSLSPCS_MASK       (3U<<0)     /**< FS/LS PHY clock select
+                                                 mask.                      */
+#define HCFG_FSLSPCS_48         (1U<<0)     /**< PHY clock is running at
+                                                 48 MHz.                    */
+#define HCFG_FSLSPCS_6          (2U<<0)     /**< PHY clock is running at
+                                                 6 MHz.                     */
+/** @} */
+
+/**
+ * @name HFIR register bit definitions
+ * @{
+ */
+#define HFIR_FRIVL_MASK         (0xFFFFU<<0)/**< Frame interval mask.       */
+#define HFIR_FRIVL(n)           ((n)<<0)    /**< Frame interval value.      */
+/** @} */
+
+/**
+ * @name HFNUM register bit definitions
+ * @{
+ */
+#define HFNUM_FTREM_MASK        (0xFFFFU<<16)/**< Frame time Remaining mask.*/
+#define HFNUM_FTREM(n)          ((n)<<16)   /**< Frame time Remaining value.*/
+#define HFNUM_FRNUM_MASK        (0xFFFFU<<0)/**< Frame number mask.         */
+#define HFNUM_FRNUM(n)          ((n)<<0)    /**< Frame number value.        */
+/** @} */
+
+/**
+ * @name HPTXSTS register bit definitions
+ * @{
+ */
+#define HPTXSTS_PTXQTOP_MASK    (0xFFU<<24) /**< Top of the periodic
+                                                 transmit request queue
+                                                 mask.                      */
+#define HPTXSTS_PTXQTOP(n)      ((n)<<24)   /**< Top of the periodic
+                                                 transmit request queue
+                                                 value.                     */
+#define HPTXSTS_PTXQSAV_MASK    (0xFF<<16)  /**< Periodic transmit request
+                                                 queue Space Available
+                                                 mask.                      */
+#define HPTXSTS_PTXQSAV(n)      ((n)<<16)   /**< Periodic transmit request
+                                                 queue Space Available
+                                                 value.                     */
+#define HPTXSTS_PTXFSAVL_MASK   (0xFFFF<<0) /**< Periodic transmit Data
+                                                 FIFO Space Available
+                                                 mask.                      */
+#define HPTXSTS_PTXFSAVL(n)     ((n)<<0)    /**< Periodic transmit Data
+                                                 FIFO Space Available
+                                                 value.                     */
+/** @} */
+
+/**
+ * @name HAINT register bit definitions
+ * @{
+ */
+#define HAINT_HAINT_MASK        (0xFFFFU<<0)/**< Channel interrupts mask.   */
+#define HAINT_HAINT(n)          ((n)<<0)    /**< Channel interrupts value.  */
+/** @} */
+
+/**
+ * @name HAINTMSK register bit definitions
+ * @{
+ */
+#define HAINTMSK_HAINTM_MASK    (0xFFFFU<<0)/**< Channel interrupt mask
+                                                 mask.                      */
+#define HAINTMSK_HAINTM(n)      ((n)<<0)    /**< Channel interrupt mask
+                                                 value.                     */
+/** @} */
+
+/**
+ * @name HPRT register bit definitions
+ * @{
+ */
+#define HPRT_PSPD_MASK          (3U<<17)    /**< Port speed mask.           */
+#define HPRT_PSPD_FS            (1U<<17)    /**< Full speed value.          */
+#define HPRT_PSPD_LS            (2U<<17)    /**< Low speed value.           */
+#define HPRT_PTCTL_MASK         (15<<13)    /**< Port Test control mask.    */
+#define HPRT_PTCTL(n)           ((n)<<13)   /**< Port Test control value.   */
+#define HPRT_PPWR               (1U<<12)    /**< Port power.                */
+#define HPRT_PLSTS_MASK         (3U<<11)    /**< Port Line status mask.     */
+#define HPRT_PLSTS_DM           (1U<<11)    /**< Logic level of D-.         */
+#define HPRT_PLSTS_DP           (1U<<10)    /**< Logic level of D+.         */
+#define HPRT_PRST               (1U<<8)     /**< Port reset.                */
+#define HPRT_PSUSP              (1U<<7)     /**< Port suspend.              */
+#define HPRT_PRES               (1U<<6)     /**< Port Resume.               */
+#define HPRT_POCCHNG            (1U<<5)     /**< Port overcurrent change.   */
+#define HPRT_POCA               (1U<<4)     /**< Port overcurrent active.   */
+#define HPRT_PENCHNG            (1U<<3)     /**< Port enable/disable change.*/
+#define HPRT_PENA               (1U<<2)     /**< Port enable.               */
+#define HPRT_PCDET              (1U<<1)     /**< Port Connect detected.     */
+#define HPRT_PCSTS              (1U<<0)     /**< Port connect status.       */
+/** @} */
+
+/**
+ * @name HCCHAR register bit definitions
+ * @{
+ */
+#define HCCHAR_CHENA            (1U<<31)    /**< Channel enable.            */
+#define HCCHAR_CHDIS            (1U<<30)    /**< Channel Disable.           */
+#define HCCHAR_ODDFRM           (1U<<29)    /**< Odd frame.                 */
+#define HCCHAR_DAD_MASK         (0x7FU<<22) /**< Device Address mask.       */
+#define HCCHAR_DAD(n)           ((n)<<22)   /**< Device Address value.      */
+#define HCCHAR_MCNT_MASK        (3U<<20)    /**< Multicount mask.           */
+#define HCCHAR_MCNT(n)          ((n)<<20)   /**< Multicount value.          */
+#define HCCHAR_EPTYP_MASK       (3U<<18)    /**< Endpoint type mask.        */
+#define HCCHAR_EPTYP(n)         ((n)<<18)   /**< Endpoint type value.       */
+#define HCCHAR_EPTYP_CTL        (0U<<18)    /**< Control endpoint value.    */
+#define HCCHAR_EPTYP_ISO        (1U<<18)    /**< Isochronous endpoint value.*/
+#define HCCHAR_EPTYP_BULK       (2U<<18)    /**< Bulk endpoint value.       */
+#define HCCHAR_EPTYP_INTR       (3U<<18)    /**< Interrupt endpoint value.  */
+#define HCCHAR_LSDEV            (1U<<17)    /**< Low-Speed device.          */
+#define HCCHAR_EPDIR            (1U<<15)    /**< Endpoint direction.        */
+#define HCCHAR_EPNUM_MASK       (15U<<11)   /**< Endpoint number mask.      */
+#define HCCHAR_EPNUM(n)         ((n)<<11)   /**< Endpoint number value.     */
+#define HCCHAR_MPS_MASK         (0x7FFU<<0)    /**< Maximum packet size mask.  */
+#define HCCHAR_MPS(n)           ((n)<<0)    /**< Maximum packet size value. */
+/** @} */
+
+/**
+ * @name HCINT register bit definitions
+ * @{
+ */
+#define HCINT_DTERR             (1U<<10)    /**< Data toggle error.         */
+#define HCINT_FRMOR             (1U<<9)     /**< Frame overrun.             */
+#define HCINT_BBERR             (1U<<8)     /**< Babble error.              */
+#define HCINT_TRERR             (1U<<7)     /**< Transaction Error.         */
+#define HCINT_ACK               (1U<<5)     /**< ACK response
+                                                 received/transmitted
+                                                 interrupt.                 */
+#define HCINT_NAK               (1U<<4)     /**< NAK response received
+                                                 interrupt.                 */
+#define HCINT_STALL             (1U<<3)     /**< STALL response received
+                                                 interrupt.                 */
+#define HCINT_CHH               (1U<<1)     /**< Channel halted.            */
+#define HCINT_XFRC              (1U<<0)     /**< Transfer completed.        */
+/** @} */
+
+/**
+ * @name HCINTMSK register bit definitions
+ * @{
+ */
+#define HCINTMSK_DTERRM         (1U<<10)    /**< Data toggle error mask.    */
+#define HCINTMSK_FRMORM         (1U<<9)     /**< Frame overrun mask.        */
+#define HCINTMSK_BBERRM         (1U<<8)     /**< Babble error mask.         */
+#define HCINTMSK_TRERRM         (1U<<7)     /**< Transaction error mask.    */
+#define HCINTMSK_NYET           (1U<<6)     /**< NYET response received
+                                                 interrupt mask.            */
+#define HCINTMSK_ACKM           (1U<<5)     /**< ACK Response
+                                                 received/transmitted
+                                                 interrupt mask.            */
+#define HCINTMSK_NAKM           (1U<<4)     /**< NAK response received
+                                                 interrupt mask.            */
+#define HCINTMSK_STALLM         (1U<<3)     /**< STALL response received
+                                                 interrupt mask.            */
+#define HCINTMSK_AHBERRM        (1U<<2)
+#define HCINTMSK_CHHM           (1U<<1)     /**< Channel halted mask.       */
+#define HCINTMSK_XFRCM          (1U<<0)     /**< Transfer completed mask.   */
+/** @} */
+
+/**
+ * @name HCTSIZ register bit definitions
+ * @{
+ */
+#define HCTSIZ_DPID_MASK        (3U<<29)    /**< PID mask.                  */
+#define HCTSIZ_DPID_DATA0       (0U<<29)    /**< DATA0.                     */
+#define HCTSIZ_DPID_DATA2       (1U<<29)    /**< DATA2.                     */
+#define HCTSIZ_DPID_DATA1       (2U<<29)    /**< DATA1.                     */
+#define HCTSIZ_DPID_MDATA       (3U<<29)    /**< MDATA.                     */
+#define HCTSIZ_DPID_SETUP       (3U<<29)    /**< SETUP.                     */
+#define HCTSIZ_PKTCNT_MASK      (0x3FFU<<19)/**< Packet count mask.         */
+#define HCTSIZ_PKTCNT(n)        ((n)<<19)   /**< Packet count value.        */
+#define HCTSIZ_XFRSIZ_MASK      (0x7FFFF<<0)/**< Transfer size mask.        */
+#define HCTSIZ_XFRSIZ(n)        ((n)<<0)    /**< Transfer size value.       */
+/** @} */
+
+/**
+ * @name DCFG register bit definitions
+ * @{
+ */
+#define DCFG_PFIVL_MASK         (3U<<11)    /**< Periodic frame interval
+                                                 mask.                      */
+#define DCFG_PFIVL(n)           ((n)<<11)   /**< Periodic frame interval
+                                                 value.                     */
+#define DCFG_DAD_MASK           (0x7FU<<4)  /**< Device address mask.       */
+#define DCFG_DAD(n)             ((n)<<4)    /**< Device address value.      */
+#define DCFG_NZLSOHSK           (1U<<2)     /**< Non-Zero-Length status
+                                                 OUT handshake.             */
+#define DCFG_DSPD_MASK          (3U<<0)     /**< Device speed mask.         */
+#define DCFG_DSPD_HS            (0U<<0)     /**< High speed (USB 2.0).      */
+#define DCFG_DSPD_HS_FS         (1U<<0)     /**< High speed (USB 2.0) in FS
+                                                 mode.                      */
+#define DCFG_DSPD_FS11          (3U<<0)     /**< Full speed (USB 1.1
+                                                 transceiver clock is 48
+                                                 MHz).                      */
+/** @} */
+
+/**
+ * @name DCTL register bit definitions
+ * @{
+ */
+#define DCTL_POPRGDNE           (1U<<11)    /**< Power-on programming done. */
+#define DCTL_CGONAK             (1U<<10)    /**< Clear global OUT NAK.      */
+#define DCTL_SGONAK             (1U<<9)     /**< Set global OUT NAK.        */
+#define DCTL_CGINAK             (1U<<8)     /**< Clear global non-periodic
+                                                 IN NAK.                    */
+#define DCTL_SGINAK             (1U<<7)     /**< Set global non-periodic
+                                                 IN NAK.                    */
+#define DCTL_TCTL_MASK          (7U<<4)     /**< Test control mask.         */
+#define DCTL_TCTL(n)            ((n)<<4     /**< Test control value.        */
+#define DCTL_GONSTS             (1U<<3)     /**< Global OUT NAK status.     */
+#define DCTL_GINSTS             (1U<<2)     /**< Global non-periodic IN
+                                                 NAK status.                */
+#define DCTL_SDIS               (1U<<1)     /**< Soft disconnect.           */
+#define DCTL_RWUSIG             (1U<<0)     /**< Remote wakeup signaling.   */
+/** @} */
+
+/**
+ * @name DSTS register bit definitions
+ * @{
+ */
+#define DSTS_FNSOF_MASK         (0x3FFU<<8) /**< Frame number of the received
+                                                 SOF mask.                  */
+#define DSTS_FNSOF(n)           ((n)<<8)    /**< Frame number of the received
+                                                 SOF value.                 */
+#define DSTS_FNSOF_ODD          (1U<<8)     /**< Frame parity of the received
+                                                 SOF value.                 */
+#define DSTS_EERR               (1U<<3)     /**< Erratic error.             */
+#define DSTS_ENUMSPD_MASK       (3U<<1)     /**< Enumerated speed mask.     */
+#define DSTS_ENUMSPD_FS_48      (3U<<1)     /**< Full speed (PHY clock is
+                                                 running at 48 MHz).        */
+#define DSTS_ENUMSPD_HS_480     (0U<<1)     /**< High speed.                */
+#define DSTS_SUSPSTS            (1U<<0)     /**< Suspend status.            */
+/** @} */
+
+/**
+ * @name DIEPMSK register bit definitions
+ * @{
+ */
+#define DIEPMSK_TXFEM           (1U<<6)     /**< Transmit FIFO empty mask.  */
+#define DIEPMSK_INEPNEM         (1U<<6)     /**< IN endpoint NAK effective
+                                                 mask.                      */
+#define DIEPMSK_ITTXFEMSK       (1U<<4)     /**< IN token received when
+                                                 TxFIFO empty mask.         */
+#define DIEPMSK_TOCM            (1U<<3)     /**< Timeout condition mask.    */
+#define DIEPMSK_EPDM            (1U<<1)     /**< Endpoint disabled
+                                                 interrupt mask.            */
+#define DIEPMSK_XFRCM           (1U<<0)     /**< Transfer completed
+                                                 interrupt mask.            */
+/** @} */
+
+/**
+ * @name DOEPMSK register bit definitions
+ * @{
+ */
+#define DOEPMSK_OTEPDM          (1U<<4)     /**< OUT token received when
+                                                 endpoint disabled mask.    */
+#define DOEPMSK_STUPM           (1U<<3)     /**< SETUP phase done mask.     */
+#define DOEPMSK_EPDM            (1U<<1)     /**< Endpoint disabled
+                                                 interrupt mask.            */
+#define DOEPMSK_XFRCM           (1U<<0)     /**< Transfer completed
+                                                 interrupt mask.            */
+/** @} */
+
+/**
+ * @name DAINT register bit definitions
+ * @{
+ */
+#define DAINT_OEPINT_MASK       (0xFFFFU<<16)/**< OUT endpoint interrupt
+                                                 bits mask.                 */
+#define DAINT_OEPINT(n)         ((n)<<16)   /**< OUT endpoint interrupt
+                                                 bits value.                */
+#define DAINT_IEPINT_MASK       (0xFFFFU<<0)/**< IN endpoint interrupt
+                                                 bits mask.                 */
+#define DAINT_IEPINT(n)         ((n)<<0)    /**< IN endpoint interrupt
+                                                 bits value.                */
+/** @} */
+
+/**
+ * @name DAINTMSK register bit definitions
+ * @{
+ */
+#define DAINTMSK_OEPM_MASK      (0xFFFFU<<16)/**< OUT EP interrupt mask
+                                                 bits mask.                 */
+#define DAINTMSK_OEPM(n)        (1U<<(16+(n)))/**< OUT EP interrupt mask
+                                                 bits value.                */
+#define DAINTMSK_IEPM_MASK      (0xFFFFU<<0)/**< IN EP interrupt mask
+                                                 bits mask.                 */
+#define DAINTMSK_IEPM(n)        (1U<<(n))   /**< IN EP interrupt mask
+                                                 bits value.                */
+/** @} */
+
+/**
+ * @name DVBUSDIS register bit definitions
+ * @{
+ */
+#define DVBUSDIS_VBUSDT_MASK    (0xFFFFU<<0)/**< Device VBUS discharge
+                                                 time mask.                 */
+#define DVBUSDIS_VBUSDT(n)      ((n)<<0)    /**< Device VBUS discharge
+                                                 time value.                */
+/** @} */
+
+/**
+ * @name DVBUSPULSE register bit definitions
+ * @{
+ */
+#define DVBUSPULSE_DVBUSP_MASK  (0xFFFU<<0) /**< Device VBUSpulsing time
+                                                 mask.                      */
+#define DVBUSPULSE_DVBUSP(n)    ((n)<<0)    /**< Device VBUS pulsing time
+                                                 value.                     */
+/** @} */
+
+/**
+ * @name DIEPEMPMSK register bit definitions
+ * @{
+ */
+#define DIEPEMPMSK_INEPTXFEM(n) (1U<<(n))   /**< IN EP Tx FIFO empty
+                                                 interrupt mask bit.        */
+/** @} */
+
+/**
+ * @name DIEPCTL register bit definitions
+ * @{
+ */
+#define DIEPCTL_EPENA           (1U<<31)    /**< Endpoint enable.           */
+#define DIEPCTL_EPDIS           (1U<<30)    /**< Endpoint disable.          */
+#define DIEPCTL_SD1PID          (1U<<29)    /**< Set DATA1 PID.             */
+#define DIEPCTL_SODDFRM         (1U<<29)    /**< Set odd frame.             */
+#define DIEPCTL_SD0PID          (1U<<28)    /**< Set DATA0 PID.             */
+#define DIEPCTL_SEVNFRM         (1U<<28)    /**< Set even frame.            */
+#define DIEPCTL_SNAK            (1U<<27)    /**< Set NAK.                   */
+#define DIEPCTL_CNAK            (1U<<26)    /**< Clear NAK.                 */
+#define DIEPCTL_TXFNUM_MASK     (15U<<22)   /**< TxFIFO number mask.        */
+#define DIEPCTL_TXFNUM(n)       ((n)<<22)   /**< TxFIFO number value.       */
+#define DIEPCTL_STALL           (1U<<21)    /**< STALL handshake.           */
+#define DIEPCTL_SNPM            (1U<<20)    /**< Snoop mode.                */
+#define DIEPCTL_EPTYP_MASK      (3<<18)     /**< Endpoint type mask.        */
+#define DIEPCTL_EPTYP_CTRL      (0U<<18)    /**< Control.                   */
+#define DIEPCTL_EPTYP_ISO       (1U<<18)    /**< Isochronous.               */
+#define DIEPCTL_EPTYP_BULK      (2U<<18)    /**< Bulk.                      */
+#define DIEPCTL_EPTYP_INTR      (3U<<18)    /**< Interrupt.                 */
+#define DIEPCTL_NAKSTS          (1U<<17)    /**< NAK status.                */
+#define DIEPCTL_EONUM           (1U<<16)    /**< Even/odd frame.            */
+#define DIEPCTL_DPID            (1U<<16)    /**< Endpoint data PID.         */
+#define DIEPCTL_USBAEP          (1U<<15)    /**< USB active endpoint.       */
+#define DIEPCTL_MPSIZ_MASK      (0x3FFU<<0) /**< Maximum Packet size mask.  */
+#define DIEPCTL_MPSIZ(n)        ((n)<<0)    /**< Maximum Packet size value. */
+/** @} */
+
+/**
+ * @name DIEPINT register bit definitions
+ * @{
+ */
+#define DIEPINT_TXFE            (1U<<7)     /**< Transmit FIFO empty.       */
+#define DIEPINT_INEPNE          (1U<<6)     /**< IN endpoint NAK effective. */
+#define DIEPINT_ITTXFE          (1U<<4)     /**< IN Token received when
+                                                 TxFIFO is empty.           */
+#define DIEPINT_TOC             (1U<<3)     /**< Timeout condition.         */
+#define DIEPINT_EPDISD          (1U<<1)     /**< Endpoint disabled
+                                                 interrupt.                 */
+#define DIEPINT_XFRC            (1U<<0)     /**< Transfer completed.        */
+/** @} */
+
+/**
+ * @name DIEPTSIZ register bit definitions
+ * @{
+ */
+#define DIEPTSIZ_MCNT_MASK      (3U<<29)    /**< Multi count mask.          */
+#define DIEPTSIZ_MCNT(n)        ((n)<<29)   /**< Multi count value.         */
+#define DIEPTSIZ_PKTCNT_MASK    (0x3FF<<19) /**< Packet count mask.         */
+#define DIEPTSIZ_PKTCNT(n)      ((n)<<19)   /**< Packet count value.        */
+#define DIEPTSIZ_XFRSIZ_MASK    (0x7FFFFU<<0)/**< Transfer size mask.       */
+#define DIEPTSIZ_XFRSIZ(n)      ((n)<<0)    /**< Transfer size value.       */
+/** @} */
+
+/**
+ * @name DTXFSTS register bit definitions.
+ * @{
+ */
+#define DTXFSTS_INEPTFSAV_MASK  (0xFFFF<<0) /**< IN endpoint TxFIFO space
+                                                 available.                 */
+/** @} */
+
+/**
+ * @name DOEPCTL register bit definitions.
+ * @{
+ */
+#define DOEPCTL_EPENA           (1U<<31)    /**< Endpoint enable.           */
+#define DOEPCTL_EPDIS           (1U<<30)    /**< Endpoint disable.          */
+#define DOEPCTL_SD1PID          (1U<<29)    /**< Set DATA1 PID.             */
+#define DOEPCTL_SODDFRM         (1U<<29)    /**< Set odd frame.             */
+#define DOEPCTL_SD0PID          (1U<<28)    /**< Set DATA0 PID.             */
+#define DOEPCTL_SEVNFRM         (1U<<28)    /**< Set even frame.            */
+#define DOEPCTL_SNAK            (1U<<27)    /**< Set NAK.                   */
+#define DOEPCTL_CNAK            (1U<<26)    /**< Clear NAK.                 */
+#define DOEPCTL_STALL           (1U<<21)    /**< STALL handshake.           */
+#define DOEPCTL_SNPM            (1U<<20)    /**< Snoop mode.                */
+#define DOEPCTL_EPTYP_MASK      (3U<<18)    /**< Endpoint type mask.        */
+#define DOEPCTL_EPTYP_CTRL      (0U<<18)    /**< Control.                   */
+#define DOEPCTL_EPTYP_ISO       (1U<<18)    /**< Isochronous.               */
+#define DOEPCTL_EPTYP_BULK      (2U<<18)    /**< Bulk.                      */
+#define DOEPCTL_EPTYP_INTR      (3U<<18)    /**< Interrupt.                 */
+#define DOEPCTL_NAKSTS          (1U<<17)    /**< NAK status.                */
+#define DOEPCTL_EONUM           (1U<<16)    /**< Even/odd frame.            */
+#define DOEPCTL_DPID            (1U<<16)    /**< Endpoint data PID.         */
+#define DOEPCTL_USBAEP          (1U<<15)    /**< USB active endpoint.       */
+#define DOEPCTL_MPSIZ_MASK      (0x3FFU<<0) /**< Maximum Packet size mask.  */
+#define DOEPCTL_MPSIZ(n)        ((n)<<0)    /**< Maximum Packet size value. */
+/** @} */
+
+/**
+ * @name DOEPINT register bit definitions
+ * @{
+ */
+#define DOEPINT_B2BSTUP         (1U<<6)     /**< Back-to-back SETUP packets
+                                                 received.                  */
+#define DOEPINT_OTEPDIS         (1U<<4)     /**< OUT token received when
+                                                 endpoint disabled.         */
+#define DOEPINT_STUP            (1U<<3)     /**< SETUP phase done.          */
+#define DOEPINT_EPDISD          (1U<<1)     /**< Endpoint disabled
+                                                 interrupt.                 */
+#define DOEPINT_XFRC            (1U<<0)     /**< Transfer completed
+                                                 interrupt.                 */
+/** @} */
+
+/**
+ * @name DOEPTSIZ register bit definitions
+ * @{
+ */
+#define DOEPTSIZ_RXDPID_MASK    (3U<<29)    /**< Received data PID mask.    */
+#define DOEPTSIZ_RXDPID(n)      ((n)<<29)   /**< Received data PID value.   */
+#define DOEPTSIZ_STUPCNT_MASK   (3U<<29)    /**< SETUP packet count mask.   */
+#define DOEPTSIZ_STUPCNT(n)     ((n)<<29)   /**< SETUP packet count value.  */
+#define DOEPTSIZ_PKTCNT_MASK    (0x3FFU<<19)/**< Packet count mask.         */
+#define DOEPTSIZ_PKTCNT(n)      ((n)<<19)   /**< Packet count value.        */
+#define DOEPTSIZ_XFRSIZ_MASK    (0x7FFFFU<<0)/**< Transfer size mask.       */
+#define DOEPTSIZ_XFRSIZ(n)      ((n)<<0)    /**< Transfer size value.       */
+/** @} */
+
+/**
+ * @name PCGCCTL register bit definitions
+ * @{
+ */
+#define PCGCCTL_PHYSUSP         (1U<<4)     /**< PHY Suspended.             */
+#define PCGCCTL_GATEHCLK        (1U<<1)     /**< Gate HCLK.                 */
+#define PCGCCTL_STPPCLK         (1U<<0)     /**< Stop PCLK.                 */
+/** @} */
+
+/**
+ * @brief   OTG_FS registers block memory address.
+ */
+#define OTG_FS_ADDR                 0x50000000
+
+/**
+ * @brief   OTG_HS registers block memory address.
+ */
+#define OTG_HS_ADDR                 0x40040000
+
+/**
+ * @brief   Accesses to the OTG_FS registers block.
+ */
+#define OTG_FS                      ((stm32_otg_t *)OTG_FS_ADDR)
+
+/**
+ * @brief   Accesses to the OTG_HS registers block.
+ */
+#define OTG_HS                      ((stm32_otg_t *)OTG_HS_ADDR)
+
+#endif /* _STM32_OTG_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.c b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c
index 5455f52..3abab1c 100644
--- a/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.c
+++ b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c
@@ -1,1604 +1,1604 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-

-#if HAL_USE_USBH

-#include "usbh/internal.h"

-#include <string.h>

-

-#if USBH_LLD_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBH_LLD_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBH_LLD_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBH_LLD_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-static void _transfer_completedI(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status);

-static void _try_commit_np(USBHDriver *host);

-static void otg_rxfifo_flush(USBHDriver *usbp);

-static void otg_txfifo_flush(USBHDriver *usbp, uint32_t fifo);

-

-/*===========================================================================*/

-/* Little helper functions.	    	                                 		 */

-/*===========================================================================*/

-static inline void _move_to_pending_queue(usbh_ep_t *ep) {

-	list_move_tail(&ep->node, ep->pending_list);

-}

-

-static inline usbh_urb_t *_active_urb(usbh_ep_t *ep) {

-	return list_first_entry(&ep->urb_list, usbh_urb_t, node);

-}

-

-static inline void _save_dt_mask(usbh_ep_t *ep, uint32_t hctsiz) {

-	ep->dt_mask = hctsiz & HCTSIZ_DPID_MASK;

-}

-

-#if 1

-#define _transfer_completed _transfer_completedI

-#else

-static inline void _transfer_completed(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalSysLockFromISR();

-	_transfer_completedI(ep, urb, status);

-	osalSysUnlockFromISR();

-}

-#endif

-

-/*===========================================================================*/

-/* Functions called from many places.                                 		 */

-/*===========================================================================*/

-static void _transfer_completedI(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalDbgCheckClassI();

-

-	urb->queued = FALSE;

-

-	/* remove URB from EP's queue */

-	list_del_init(&urb->node);

-

-	/* Call the callback function now, so that if it calls usbhURBSubmitI,

-	 * the list_empty check below will be false. Also, note that the

-	 *   if (list_empty(&ep->node)) {

-	 *     ...

-	 *   }

-	 * in usbh_lld_urb_submit will be false, since the endpoint is

-	 * still in the active queue.

-	 */

-	_usbh_urb_completeI(urb, status);

-

-	if (list_empty(&ep->urb_list)) {

-		/* no more URBs to process in this EP, remove EP from the host's queue */

-		list_del_init(&ep->node);

-	} else {

-		/* more URBs to process */

-		_move_to_pending_queue(ep);

-	}

-}

-

-static void _halt_channel(USBHDriver *host, stm32_hc_management_t *hcm, usbh_lld_halt_reason_t reason) {

-	(void)host;

-

-	if (hcm->halt_reason != USBH_LLD_HALTREASON_NONE) {

-		uwarnf("\t%s: Repeated halt (original=%d, new=%d)", hcm->ep->name, hcm->halt_reason, reason);

-		return;

-	}

-

-#if CH_DBG_ENABLE_CHECKS

-	if (usbhEPIsPeriodic(hcm->ep)) {

-		osalDbgCheck(host->otg->HPTXSTS & HPTXSTS_PTXQSAV_MASK);

-	} else {

-		osalDbgCheck(host->otg->HNPTXSTS & HPTXSTS_PTXQSAV_MASK);

-	}

-#endif

-

-	hcm->halt_reason = reason;

-	hcm->hc->HCCHAR |= HCCHAR_CHENA | HCCHAR_CHDIS;

-}

-

-static void _release_channel(USBHDriver *host, stm32_hc_management_t *hcm) {

-//	static const char *reason[] =  {"XFRC",	"XFRC",	"NAK", "STALL",	"ERROR", "ABORT"};

-//	udbgf("\t%s: release (%s)", hcm->ep->name, reason[hcm->halt_reason]);

-	hcm->hc->HCINTMSK = 0;

-	host->otg->HAINTMSK &= ~hcm->haintmsk;

-	hcm->halt_reason = USBH_LLD_HALTREASON_NONE;

-	if (usbhEPIsPeriodic(hcm->ep)) {

-		list_add(&hcm->node, &host->ch_free[0]);

-	} else {

-		list_add(&hcm->node, &host->ch_free[1]);

-	}

-	hcm->ep->xfer.hcm = 0;

-	hcm->ep = 0;

-}

-

-static bool _activate_ep(USBHDriver *host, usbh_ep_t *ep) {

-	struct list_head *list;

-	uint16_t spc;

-

-	osalDbgCheck(ep->xfer.hcm == NULL);

-

-	if (usbhEPIsPeriodic(ep)) {

-		list = &host->ch_free[0];

-		spc = (host->otg->HPTXSTS >> 16) & 0xff;

-	} else {

-		list = &host->ch_free[1];

-		spc = (host->otg->HNPTXSTS >> 16) & 0xff;

-	}

-

-	if (list_empty(list)) {

-		uwarnf("\t%s: No free %s channels", ep->name, usbhEPIsPeriodic(ep) ? "P" : "NP");

-		return FALSE;

-	}

-

-	if (spc <= STM32_USBH_MIN_QSPACE) {

-		uwarnf("\t%s: No space in %s Queue (spc=%d)", ep->name, usbhEPIsPeriodic(ep) ? "P" : "NP", spc);

-		return FALSE;

-	}

-

-	/* get the first channel */

-	stm32_hc_management_t *hcm = list_first_entry(list, stm32_hc_management_t, node);

-	osalDbgCheck((hcm->halt_reason == USBH_LLD_HALTREASON_NONE) && (hcm->ep == NULL));

-

-	usbh_urb_t *const urb = _active_urb(ep);

-	uint32_t hcintmsk = ep->hcintmsk;

-	uint32_t hcchar = ep->hcchar;

-	uint16_t mps = ep->wMaxPacketSize;

-

-	uint32_t xfer_packets;

-	uint32_t xfer_len = 0;	//Initialize just to shut up a compiler warning

-

-	osalDbgCheck(urb->status == USBH_URBSTATUS_PENDING);

-

-	/* check if the URB is a new one, or we must continue a previously started URB */

-	if (urb->queued == FALSE) {

-		/* prepare EP for a new URB */

-		if (ep->type == USBH_EPTYPE_CTRL) {

-			xfer_len = 8;

-			ep->xfer.buf = (uint8_t *)urb->setup_buff;

-			ep->dt_mask = HCTSIZ_DPID_SETUP;

-			ep->in = FALSE;

-			ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_SETUP;

-		} else {

-			xfer_len = urb->requestedLength;

-			ep->xfer.buf = urb->buff;

-		}

-		ep->xfer.error_count = 0;

-		//urb->status = USBH_URBSTATUS_QUEUED;

-	} else {

-		osalDbgCheck(urb->requestedLength >= urb->actualLength);

-

-		if (ep->type == USBH_EPTYPE_CTRL) {

-			switch (ep->xfer.u.ctrl_phase) {

-			case USBH_LLD_CTRLPHASE_SETUP:

-				xfer_len = 8;

-				ep->xfer.buf = (uint8_t *)urb->setup_buff;

-				ep->dt_mask = HCTSIZ_DPID_SETUP;

-				break;

-			case USBH_LLD_CTRLPHASE_DATA:

-				xfer_len = urb->requestedLength - urb->actualLength;

-				ep->xfer.buf = (uint8_t *) urb->buff + urb->actualLength;

-				break;

-			case USBH_LLD_CTRLPHASE_STATUS:

-				xfer_len = 0;

-				ep->dt_mask = HCTSIZ_DPID_DATA1;

-				ep->xfer.error_count = 0;

-				break;

-			default:

-				osalDbgCheck(0);

-			}

-			if (ep->in) {

-				hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;

-				hcchar |= HCCHAR_EPDIR;

-			}

-		} else {

-			xfer_len = urb->requestedLength - urb->actualLength;

-			ep->xfer.buf = (uint8_t *) urb->buff + urb->actualLength;

-		}

-

-		if (ep->xfer.error_count)

-			hcintmsk |= HCINTMSK_ACKM;

-

-	}

-	ep->xfer.partial = 0;

-

-	if (ep->type == USBH_EPTYPE_ISO) {

-		ep->dt_mask = HCTSIZ_DPID_DATA0;

-

-		/* [USB 2.0 spec, 5.6.4]: A host must not issue more than 1

-		 * transaction in a (micro)frame for an isochronous endpoint

-		 * unless the endpoint is high-speed, high-bandwidth.

-		 */

-		if (xfer_len > mps)

-			xfer_len = mps;

-	} else if (xfer_len > 0x7FFFF) {

-		xfer_len = 0x7FFFF - mps + 1;

-	}

-

-	/* calculate required packets */

-	if (xfer_len) {

-		xfer_packets = (xfer_len + mps - 1) / mps;

-

-		if (xfer_packets > 0x3FF) {

-			xfer_packets = 0x3FF;

-			xfer_len = xfer_packets * mps;

-		}

-	} else {

-		xfer_packets = 1;	/* Need 1 packet for transfer length of 0 */

-	}

-

-	if (ep->in)

-		xfer_len = xfer_packets * mps;

-

-	/* Clear old interrupt conditions,

-	 * configure transfer size,

-	 * enable required interrupts */

-	stm32_otg_host_chn_t *const hc = hcm->hc;

-	hc->HCINT = 0xffffffff;

-	hc->HCTSIZ = ep->dt_mask

-					| HCTSIZ_PKTCNT(xfer_packets)

-					| HCTSIZ_XFRSIZ(xfer_len);

-	hc->HCINTMSK = hcintmsk;

-

-	/* Queue the transfer for the next frame (no effect for non-periodic transfers) */

-	if (!(host->otg->HFNUM & 1))

-		hcchar |= HCCHAR_ODDFRM;

-

-	/* configure channel characteristics and queue a request */

-	hc->HCCHAR = hcchar;

-	if (ep->in && (xfer_packets > 1)) {

-		/* For IN transfers, try to queue two back-to-back packets.

-		 * This results in a 1% performance gain for Full Speed transfers

-		 */

-		if (--spc > STM32_USBH_MIN_QSPACE) {

-			hc->HCCHAR |= HCCHAR_CHENA;

-		} else {

-			uwarnf("\t%s: Could not queue back-to-back packets", ep->name);

-		}

-	}

-

-	if (urb->queued == FALSE) {

-		urb->queued = TRUE;

-		udbgf("\t%s: Start (%dB)", ep->name, xfer_len);

-	} else {

-		udbgf("\t%s: Restart (%dB)", ep->name, xfer_len);

-	}

-

-	ep->xfer.len = xfer_len;

-	ep->xfer.packets = (uint16_t)xfer_packets;

-

-	/* remove the channel from the free list, link endpoint <-> channel and move to the active queue*/

-	list_del(&hcm->node);

-	ep->xfer.hcm = hcm;

-	hcm->ep = ep;

-	list_move_tail(&ep->node, ep->active_list);

-

-

-	stm32_otg_t *const otg = host->otg;

-

-	/* enable this channel's interrupt and global channel interrupt */

-	otg->HAINTMSK |= hcm->haintmsk;

-	if (ep->in) {

-		otg->GINTMSK |= GINTMSK_HCM;

-	} else if (usbhEPIsPeriodic(ep)) {

-		otg->GINTMSK |= GINTMSK_HCM | GINTMSK_PTXFEM;

-	} else {

-		//TODO: write to the FIFO now

-		otg->GINTMSK |= GINTMSK_HCM | GINTMSK_NPTXFEM;

-	}

-

-	return TRUE;

-}

-

-static bool _update_urb(usbh_ep_t *ep, uint32_t hctsiz, usbh_urb_t *urb, bool completed) {

-	uint32_t len;

-

-	if (!completed) {

-		len = ep->wMaxPacketSize * (ep->xfer.packets - ((hctsiz & HCTSIZ_PKTCNT_MASK) >> 19));

-	} else {

-		if (ep->in) {

-			len = ep->xfer.len - ((hctsiz & HCTSIZ_XFRSIZ_MASK) >> 0);

-		} else {

-			len = ep->xfer.len;

-		}

-		osalDbgCheck(len == ep->xfer.partial);	//TODO: if len == ep->xfer.partial, use this instead of the above code

-	}

-

-#if 1

-	osalDbgAssert(urb->actualLength + len <= urb->requestedLength, "what happened?");

-#else

-	if (urb->actualLength + len > urb->requestedLength) {

-		uerrf("\t%s: Trimming actualLength %u -> %u", ep->name, urb->actualLength + len, urb->requestedLength);

-		urb->actualLength = urb->requestedLength;

-		return TRUE;

-	}

-#endif

-

-	urb->actualLength += len;

-	if ((urb->actualLength == urb->requestedLength)

-			|| (ep->in && completed && (hctsiz & HCTSIZ_XFRSIZ_MASK)))

-		return TRUE;

-

-	return FALSE;

-}

-

-static void _try_commit_np(USBHDriver *host) {

-	usbh_ep_t *item, *tmp;

-

-	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_CTRL], node) {

-		if (!_activate_ep(host, item))

-			return;

-	}

-

-	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_BULK], node) {

-		if (!_activate_ep(host, item))

-			return;

-	}

-}

-

-static void _try_commit_p(USBHDriver *host, bool sof) {

-	usbh_ep_t *item, *tmp;

-

-	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_ISO], node) {

-		if (!_activate_ep(host, item))

-			return;

-	}

-

-	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_INT], node) {

-		osalDbgCheck(item);

-		/* TODO: improve this */

-		if (sof && item->xfer.u.frame_counter)

-			--item->xfer.u.frame_counter;

-

-		if (item->xfer.u.frame_counter == 0) {

-			if (!_activate_ep(host, item))

-				return;

-			item->xfer.u.frame_counter = item->bInterval;

-		}

-	}

-

-	if (list_empty(&host->ep_pending_lists[USBH_EPTYPE_ISO])

-		&& list_empty(&host->ep_pending_lists[USBH_EPTYPE_INT])) {

-		host->otg->GINTMSK &= ~GINTMSK_SOFM;

-	} else {

-		host->otg->GINTMSK |= GINTMSK_SOFM;

-	}

-}

-

-static void _purge_queue(USBHDriver *host, struct list_head *list) {

-	usbh_ep_t *ep, *tmp;

-	list_for_each_entry_safe(ep, usbh_ep_t, tmp, list, node) {

-		usbh_urb_t *const urb = _active_urb(ep);

-		stm32_hc_management_t *const hcm = ep->xfer.hcm;

-		uwarnf("\t%s: Abort URB, USBH_URBSTATUS_DISCONNECTED", ep->name);

-		if (hcm) {

-			uwarnf("\t%s: URB had channel %d assigned, halt_reason = %d", ep->name, hcm - host->channels, hcm->halt_reason);

-			_release_channel(host, hcm);

-			_update_urb(ep, hcm->hc->HCTSIZ, urb, FALSE);

-		}

-		_transfer_completed(ep, urb, USBH_URBSTATUS_DISCONNECTED);

-	}

-}

-

-static void _purge_active(USBHDriver *host) {

-	_purge_queue(host, &host->ep_active_lists[0]);

-	_purge_queue(host, &host->ep_active_lists[1]);

-	_purge_queue(host, &host->ep_active_lists[2]);

-	_purge_queue(host, &host->ep_active_lists[3]);

-}

-

-static void _purge_pending(USBHDriver *host) {

-	_purge_queue(host, &host->ep_pending_lists[0]);

-	_purge_queue(host, &host->ep_pending_lists[1]);

-	_purge_queue(host, &host->ep_pending_lists[2]);

-	_purge_queue(host, &host->ep_pending_lists[3]);

-}

-

-static uint32_t _write_packet(struct list_head *list, uint32_t space_available) {

-	usbh_ep_t *ep;

-

-	uint32_t remaining = 0;

-

-	list_for_each_entry(ep, usbh_ep_t, list, node) {

-		if (ep->in || (ep->xfer.hcm->halt_reason != USBH_LLD_HALTREASON_NONE))

-			continue;

-

-		int32_t rem = ep->xfer.len - ep->xfer.partial;

-		osalDbgCheck(rem >= 0);

-		if (rem <= 0)

-			continue;

-

-		remaining += rem;

-

-		if (!space_available) {

-			if (remaining)

-				break;

-

-			continue;

-		}

-

-		/* write one packet only */

-		if (rem > ep->wMaxPacketSize)

-			rem = ep->wMaxPacketSize;

-

-		/* round up to dwords */

-		uint32_t words = (rem + 3) / 4;

-

-		if (words > space_available)

-			words = space_available;

-

-		space_available -= words;

-

-		uint32_t written = words * 4;

-		if ((int32_t)written > rem)

-			written = rem;

-

-		volatile uint32_t *dest = ep->xfer.hcm->fifo;

-		uint32_t *src = (uint32_t *)ep->xfer.buf;

-		udbgf("\t%s: write %d words (%dB), partial=%d", ep->name, words, written, ep->xfer.partial);

-		while (words--) {

-			*dest = *src++;

-		}

-

-		ep->xfer.buf += written;

-		ep->xfer.partial += written;

-

-		remaining -= written;

-	}

-

-	return remaining;

-}

-

-

-/*===========================================================================*/

-/* API.					   	    	                                 		 */

-/*===========================================================================*/

-

-void usbh_lld_ep_object_init(usbh_ep_t *ep) {

-/*			CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

- * STALL		si		sólo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)

- * ACK			si			si			si			si			si			si			no			no		ep->type != ISO

- * NAK			si			si			si			si			si			si			no			no		ep->type != ISO

- * BBERR		si			no			si			no			si			no			si			no		ep->in

- * TRERR		si			si			si			si			si			si			si			no		ep->type != ISO || ep->in

- * DTERR		si			no			si			no			si			no			no			no		ep->type != ISO && ep->in

- * FRMOR		no			no			si			si			no			no			si			si		ep->type = PERIODIC

- */

-	USBHDriver *host = ep->device->host;

-	uint32_t hcintmsk = HCINTMSK_CHHM | HCINTMSK_XFRCM | HCINTMSK_AHBERRM;

-

-	switch (ep->type) {

-	case USBH_EPTYPE_ISO:

-		hcintmsk |= HCINTMSK_FRMORM;

-		if (ep->in) {

-			hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_BBERRM;

-		}

-		break;

-	case USBH_EPTYPE_INT:

-		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_FRMORM | HCINTMSK_STALLM | HCINTMSK_NAKM;

-		if (ep->in) {

-			hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;

-		}

-		ep->xfer.u.frame_counter = 1;

-		break;

-	case USBH_EPTYPE_CTRL:

-		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_STALLM | HCINTMSK_NAKM;

-		break;

-	case USBH_EPTYPE_BULK:

-		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_STALLM | HCINTMSK_NAKM;

-		if (ep->in) {

-			hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;

-		}

-		break;

-	default:

-		chDbgCheck(0);

-	}

-	ep->active_list = &host->ep_active_lists[ep->type];

-	ep->pending_list = &host->ep_pending_lists[ep->type];

-	INIT_LIST_HEAD(&ep->urb_list);

-	INIT_LIST_HEAD(&ep->node);

-

-	ep->hcintmsk = hcintmsk;

-	ep->hcchar = HCCHAR_CHENA

-			| HCCHAR_DAD(ep->device->address)

-			| HCCHAR_MCNT(1)

-			| HCCHAR_EPTYP(ep->type)

-			| ((ep->device->speed == USBH_DEVSPEED_LOW) ? HCCHAR_LSDEV : 0)

-			| (ep->in ? HCCHAR_EPDIR : 0)

-			| HCCHAR_EPNUM(ep->address)

-			| HCCHAR_MPS(ep->wMaxPacketSize);

-}

-

-void usbh_lld_ep_open(usbh_ep_t *ep) {

-	uinfof("\t%s: Open EP", ep->name);

-	ep->status = USBH_EPSTATUS_OPEN;

-	osalOsRescheduleS();

-}

-

-void usbh_lld_ep_close(usbh_ep_t *ep) {

-	usbh_urb_t *urb, *tmp;

-	uinfof("\t%s: Closing EP...", ep->name);

-	list_for_each_entry_safe(urb, usbh_urb_t, tmp, &ep->urb_list, node) {

-		uinfof("\t%s: Abort URB, USBH_URBSTATUS_DISCONNECTED", ep->name);

-		_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_DISCONNECTED);

-	}

-	uinfof("\t%s: Closed", ep->name);

-	ep->status = USBH_EPSTATUS_CLOSED;

-	osalOsRescheduleS();

-}

-

-void usbh_lld_urb_submit(usbh_urb_t *urb) {

-	usbh_ep_t *const ep = urb->ep;

-

-	/* add the URB to the EP's queue */

-	list_add_tail(&urb->node, &ep->urb_list);

-

-	/* check if the EP wasn't in any queue (pending nor active) */

-	if (list_empty(&ep->node)) {

-

-		/* add the EP to the pending queue */

-		_move_to_pending_queue(ep);

-

-		if (usbhEPIsPeriodic(ep)) {

-			ep->device->host->otg->GINTMSK |= GINTMSK_SOFM;

-		} else {

-			/* try to queue non-periodic transfers */

-			_try_commit_np(ep->device->host);

-		}

-	}

-}

-

-bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalDbgCheck(usbhURBIsBusy(urb));

-

-	usbh_ep_t *const ep = urb->ep;

-	osalDbgCheck(ep);

-	stm32_hc_management_t *const hcm = ep->xfer.hcm;

-

-	if ((hcm != NULL) && (urb == _active_urb(ep))) {

-		/* This URB is active (channel assigned, top of the EP's URB list) */

-

-		if (hcm->halt_reason == USBH_LLD_HALTREASON_NONE) {

-			/* The channel is not being halted */

-			urb->status = status;

-			_halt_channel(ep->device->host, hcm, USBH_LLD_HALTREASON_ABORT);

-		} else {

-			/* The channel is being halted, so we can't re-halt it. The CHH interrupt will

-			 * be in charge of completing the transfer, but the URB will not have the specified status.

-			 */

-		}

-		return FALSE;

-	}

-

-	/* This URB is active, we can cancel it now */

-	_transfer_completedI(ep, urb, status);

-

-	return TRUE;

-}

-

-

-/*===========================================================================*/

-/* Channel Interrupts.   	    	                                 		 */

-/*===========================================================================*/

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si			si			si			si			si			si			no			no		ep->type != ISO && !ep->in

-static inline void _ack_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	(void)host;

-	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "ACK should not happen in ISO endpoints");

-	hcm->ep->xfer.error_count = 0;

-	hc->HCINTMSK &= ~HCINTMSK_ACKM;

-	udbgf("\t%s: ACK", hcm->ep->name);

-}

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si			no			si			no			si			no			no			no		ep->type != ISO && ep->in

-static inline void _dterr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	(void)host;

-	osalDbgAssert(hcm->ep->in && (hcm->ep->type != USBH_EPTYPE_ISO), "DTERR should not happen in OUT or ISO endpoints");

-#if 0

-	hc->HCINTMSK &= ~(HCINTMSK_DTERRM | HCINTMSK_ACKM);

-	hcm->ep->xfer.error_count = 0;

-	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);

-#else

-	/* restart directly, no need to halt it in this case */

-	hcm->ep->xfer.error_count = 0;

-	hc->HCINTMSK &= ~HCINTMSK_ACKM;

-	hc->HCCHAR |= HCCHAR_CHENA;

-#endif

-	uerrf("\t%s: DTERR", hcm->ep->name);

-}

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si			no			si			no			si			no			si			no		ep->in

-static inline void _bberr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	osalDbgAssert(hcm->ep->in, "BBERR should not happen in OUT endpoints");

-	hc->HCINTMSK &= ~HCINTMSK_BBERRM;

-	hcm->ep->xfer.error_count = 3;

-	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);

-	uerrf("\t%s: BBERR", hcm->ep->name);

-}

-

-///CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si			si			si			si			si			si			si			no		ep->type != ISO || ep->in

-static inline void _trerr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	osalDbgAssert(hcm->ep->in || (hcm->ep->type != USBH_EPTYPE_ISO), "TRERR should not happen in ISO OUT endpoints");

-	hc->HCINTMSK &= ~HCINTMSK_TRERRM;

-	++hcm->ep->xfer.error_count;

-	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);

-	uerrf("\t%s: TRERR", hcm->ep->name);

-}

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	no			no			si			si			no			no			si			si		ep->type = PERIODIC

-static inline void _frmor_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	osalDbgAssert(usbhEPIsPeriodic(hcm->ep), "FRMOR should not happen in non-periodic endpoints");

-	hc->HCINTMSK &= ~HCINTMSK_FRMORM;

-	hcm->ep->xfer.error_count = 3;

-	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);

-	uerrf("\t%s: FRMOR", hcm->ep->name);

-}

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si			si			si			si			si			si			no			no		ep->type != ISO

-static inline void _nak_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "NAK should not happen in ISO endpoints");

-	if (!hcm->ep->in || (hcm->ep->type == USBH_EPTYPE_INT)) {

-		hc->HCINTMSK &= ~HCINTMSK_NAKM;

-		_halt_channel(host, hcm, USBH_LLD_HALTREASON_NAK);

-	} else {

-		/* restart directly, no need to halt it in this case */

-		hcm->ep->xfer.error_count = 0;

-		hc->HCINTMSK &= ~HCINTMSK_ACKM;

-		hc->HCCHAR |= HCCHAR_CHENA;

-	}

-	udbgf("\t%s: NAK", hcm->ep->name);

-}

-

-//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)

-//	si		sólo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)

-static inline void _stall_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "STALL should not happen in ISO endpoints");

-	hc->HCINTMSK &= ~HCINTMSK_STALLM;

-	_halt_channel(host, hcm, USBH_LLD_HALTREASON_STALL);

-	uwarnf("\t%s: STALL", hcm->ep->name);

-}

-

-static void _complete_bulk_int(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {

-	_release_channel(host, hcm);

-	_save_dt_mask(ep, hctsiz);

-	if (_update_urb(ep, hctsiz, urb, TRUE)) {

-		udbgf("\t%s: done", ep->name);

-		_transfer_completed(ep, urb, USBH_URBSTATUS_OK);

-	} else {

-		osalDbgCheck(urb->requestedLength > 0x7FFFF);

-		uwarnf("\t%s: incomplete", ep->name);

-		_move_to_pending_queue(ep);

-	}

-	if (usbhEPIsPeriodic(ep)) {

-		_try_commit_p(host, FALSE);

-	} else {

-		_try_commit_np(host);

-	}

-}

-

-static void _complete_control(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {

-	osalDbgCheck(ep->xfer.u.ctrl_phase != USBH_LLD_CTRLPHASE_SETUP);

-

-	_release_channel(host, hcm);

-	if (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_DATA) {

-		if (_update_urb(ep, hctsiz, urb, TRUE)) {

-			udbgf("\t%s: DATA done", ep->name);

-			ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_STATUS;

-			ep->in = !ep->in;

-		} else {

-			osalDbgCheck(urb->requestedLength > 0x7FFFF);

-			uwarnf("\t%s: DATA incomplete", ep->name);

-			_save_dt_mask(ep, hctsiz);

-		}

-		_move_to_pending_queue(ep);

-	} else {

-		osalDbgCheck(ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_STATUS);

-		udbgf("\t%s: STATUS done", ep->name);

-		_transfer_completed(ep, urb, USBH_URBSTATUS_OK);

-	}

-	_try_commit_np(host);

-}

-

-static void _complete_control_setup(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb) {

-	_release_channel(host, hcm);

-	if (urb->requestedLength) {

-		udbgf("\t%s: SETUP done -> DATA", ep->name);

-		ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_DATA;

-		ep->in = *((uint8_t *)urb->setup_buff) & 0x80 ? TRUE : FALSE;

-		ep->dt_mask = HCTSIZ_DPID_DATA1;

-		ep->xfer.error_count = 0;

-	} else {

-		udbgf("\t%s: SETUP done -> STATUS", ep->name);

-		ep->in = TRUE;

-		ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_STATUS;

-	}

-	_move_to_pending_queue(ep);

-	_try_commit_np(host);

-}

-

-static void _complete_iso(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {

-	udbgf("\t%s: done", hcm->ep->name);

-	_release_channel(host, hcm);

-	_update_urb(ep, hctsiz, urb, TRUE);

-	_transfer_completed(ep, urb, USBH_URBSTATUS_OK);

-	_try_commit_p(host, FALSE);

-}

-

-static inline void _xfrc_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-	usbh_ep_t *const ep = hcm->ep;

-	usbh_urb_t *const urb = _active_urb(ep);

-	osalDbgCheck(urb);

-	uint32_t hctsiz = hc->HCTSIZ;

-

-	hc->HCINTMSK &= ~HCINTMSK_XFRCM;

-

-	switch (ep->type) {

-	case USBH_EPTYPE_CTRL:

-		if (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP) {

-			_complete_control_setup(host, hcm, ep, urb);

-		} else if (ep->in) {

-			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);

-		} else {

-			_complete_control(host, hcm, ep, urb, hctsiz);

-		}

-		break;

-

-	case USBH_EPTYPE_BULK:

-		if (ep->in) {

-			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);

-		} else {

-			_complete_bulk_int(host, hcm, ep, urb, hctsiz);

-		}

-		break;

-

-	case USBH_EPTYPE_INT:

-		if (ep->in && (hctsiz & HCTSIZ_PKTCNT_MASK)) {

-			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);

-		} else {

-			_complete_bulk_int(host, hcm, ep, urb, hctsiz);

-		}

-		break;

-

-	case USBH_EPTYPE_ISO:

-		if (ep->in && (hctsiz & HCTSIZ_PKTCNT_MASK)) {

-			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);

-		} else {

-			_complete_iso(host, hcm, ep, urb, hctsiz);

-		}

-		break;

-	}

-}

-

-static inline void _chh_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {

-

-	usbh_ep_t *const ep = hcm->ep;

-	usbh_urb_t *const urb = _active_urb(ep);

-	osalDbgCheck(urb);

-	uint32_t hctsiz = hc->HCTSIZ;

-	usbh_lld_halt_reason_t reason = hcm->halt_reason;

-

-	//osalDbgCheck(reason != USBH_LLD_HALTREASON_NONE);

-	if (reason == USBH_LLD_HALTREASON_NONE) {

-		uwarnf("\tCHH: ch=%d, USBH_LLD_HALTREASON_NONE", hcm - host->channels);

-		return;

-	}

-

-	if (reason == USBH_LLD_HALTREASON_XFRC) {

-		osalDbgCheck(ep->in);

-		switch (ep->type) {

-		case USBH_EPTYPE_CTRL:

-			_complete_control(host, hcm, ep, urb, hctsiz);

-			break;

-		case USBH_EPTYPE_BULK:

-		case USBH_EPTYPE_INT:

-			_complete_bulk_int(host, hcm, ep, urb, hctsiz);

-			break;

-		case USBH_EPTYPE_ISO:

-			_complete_iso(host, hcm, ep, urb, hctsiz);

-			break;

-		}

-	} else {

-		_release_channel(host, hcm);

-		_save_dt_mask(ep, hctsiz);

-		bool done = _update_urb(ep, hctsiz, urb, FALSE);

-

-		switch (reason) {

-		case USBH_LLD_HALTREASON_NAK:

-			if ((ep->type == USBH_EPTYPE_INT) && ep->in) {

-				_transfer_completed(ep, urb, USBH_URBSTATUS_TIMEOUT);

-			} else {

-				ep->xfer.error_count = 0;

-				_move_to_pending_queue(ep);

-			}

-			break;

-

-		case USBH_LLD_HALTREASON_STALL:

-			if ((ep->type == USBH_EPTYPE_CTRL) && (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP)) {

-				uerrf("\t%s: Faulty device: STALLed SETUP phase", ep->name);

-			}

-			_transfer_completed(ep, urb, USBH_URBSTATUS_STALL);

-			break;

-

-		case USBH_LLD_HALTREASON_ERROR:

-			if ((ep->type == USBH_EPTYPE_ISO) || done || (ep->xfer.error_count >= 3)) {

-				_transfer_completed(ep, urb, USBH_URBSTATUS_ERROR);

-			} else {

-				uerrf("\t%s: err=%d, done=%d, retry", ep->name, ep->xfer.error_count, done);

-				_move_to_pending_queue(ep);

-			}

-			break;

-

-		case USBH_LLD_HALTREASON_ABORT:

-			uwarnf("\t%s: Abort", ep->name);

-			_transfer_completed(ep, urb, urb->status);

-			break;

-

-		default:

-			osalDbgCheck(0);

-			break;

-		}

-

-		if (usbhEPIsPeriodic(ep)) {

-			_try_commit_p(host, FALSE);

-		} else {

-			_try_commit_np(host);

-		}

-	}

-}

-

-static void _hcint_n_int(USBHDriver *host, uint8_t chn) {

-

-	stm32_hc_management_t *const hcm = &host->channels[chn];

-	stm32_otg_host_chn_t *const hc = hcm->hc;

-

-	uint32_t hcint = hc->HCINT;

-	hcint &= hc->HCINTMSK;

-	hc->HCINT = hcint;

-

-	osalDbgCheck((hcint & HCINTMSK_AHBERRM) == 0);

-	osalDbgCheck(hcm->ep);

-

-	if (hcint & HCINTMSK_STALLM)

-		_stall_int(host, hcm, hc);

-	if (hcint & HCINTMSK_NAKM)

-		_nak_int(host, hcm, hc);

-	if (hcint & HCINTMSK_ACKM)

-		_ack_int(host, hcm, hc);

-	if (hcint & HCINTMSK_TRERRM)

-		_trerr_int(host, hcm, hc);

-	if (hcint & HCINTMSK_BBERRM)

-		_bberr_int(host, hcm, hc);

-	if (hcint & HCINTMSK_FRMORM)

-		_frmor_int(host, hcm, hc);

-	if (hcint & HCINTMSK_DTERRM)

-		_dterr_int(host, hcm, hc);

-	if (hcint & HCINTMSK_XFRCM)

-		_xfrc_int(host, hcm, hc);

-	if (hcint & HCINTMSK_CHHM)

-		_chh_int(host, hcm, hc);

-}

-

-static inline void _hcint_int(USBHDriver *host) {

-	uint32_t haint;

-

-	haint = host->otg->HAINT;

-	haint &= host->otg->HAINTMSK;

-

-	if (!haint) {

-		uerrf("HAINT=%08x, HAINTMSK=%08x", host->otg->HAINT, host->otg->HAINTMSK);

-		return;

-	}

-

-#if 1	//channel lookup loop

-	uint8_t i;

-	for (i = 0; haint && (i < host->channels_number); i++) {

-		if (haint & (1 << i)) {

-			_hcint_n_int(host, i);

-			haint &= ~(1 << i);

-		}

-	}

-#else	//faster calculation, with __CLZ (count leading zeroes)

-	while (haint) {

-		uint8_t chn = (uint8_t)(31 - __CLZ(haint));

-		osalDbgAssert(chn < host->channels_number, "what?");

-		haint &= ~host->channels[chn].haintmsk;

-		_hcint_n_int(host, chn);

-	}

-#endif

-}

-

-

-/*===========================================================================*/

-/* Host interrupts.			   	                                     		 */

-/*===========================================================================*/

-static inline void _sof_int(USBHDriver *host) {

-	udbg("SOF");

-	_try_commit_p(host, TRUE);

-}

-

-static inline void _rxflvl_int(USBHDriver *host) {

-

-	stm32_otg_t *const otg = host->otg;

-

-	otg->GINTMSK &= ~GINTMSK_RXFLVLM;

-	while (otg->GINTSTS & GINTSTS_RXFLVL) {

-		uint32_t grxstsp = otg->GRXSTSP;

-		osalDbgCheck((grxstsp & GRXSTSP_CHNUM_MASK) < host->channels_number);

-		stm32_hc_management_t *const hcm = &host->channels[grxstsp & GRXSTSP_CHNUM_MASK];

-		uint32_t hctsiz = hcm->hc->HCTSIZ;

-

-		if ((grxstsp & GRXSTSP_PKTSTS_MASK) == GRXSTSP_PKTSTS(2)) {

-			/* 0010: IN data packet received */

-			usbh_ep_t *const ep = hcm->ep;

-			osalDbgCheck(ep);

-

-			/* restart the channel ASAP */

-			if (hctsiz & HCTSIZ_PKTCNT_MASK) {

-#if CH_DBG_ENABLE_CHECKS

-				if (usbhEPIsPeriodic(ep)) {

-					osalDbgCheck(host->otg->HPTXSTS & HPTXSTS_PTXQSAV_MASK);

-				} else {

-					osalDbgCheck(host->otg->HNPTXSTS & HPTXSTS_PTXQSAV_MASK);

-				}

-#endif

-				hcm->hc->HCCHAR |= HCCHAR_CHENA;

-			}

-

-			udbgf("\t%s: RXFLVL rx=%dB, rem=%dB (%dpkts)",

-					ep->name,

-					(grxstsp & GRXSTSP_BCNT_MASK) >> 4,

-					(hctsiz & HCTSIZ_XFRSIZ_MASK),

-					(hctsiz & HCTSIZ_PKTCNT_MASK) >> 19);

-

-			/* Read */

-			uint32_t *dest = (uint32_t *)ep->xfer.buf;

-			volatile uint32_t *const src = hcm->fifo;

-

-			uint32_t bcnt = (grxstsp & GRXSTSP_BCNT_MASK) >> GRXSTSP_BCNT_OFF;

-			osalDbgCheck(bcnt + ep->xfer.partial <= ep->xfer.len);

-

-			//TODO: optimize this

-			uint32_t words = bcnt / 4;

-			uint8_t bytes = bcnt & 3;

-			while (words--) {

-				*dest++ = *src;

-			}

-			if (bytes) {

-				uint32_t r = *src;

-				uint8_t *bsrc = (uint8_t *)&r;

-				uint8_t *bdest = (uint8_t *)dest;

-				do {

-					*bdest++ = *bsrc++;

-				} while (--bytes);

-			}

-

-			ep->xfer.buf += bcnt;

-			ep->xfer.partial += bcnt;

-

-#if 0 //STM32_USBH_CHANNELS_NP > 1

-			/* check bug */

-			if (hctsiz & HCTSIZ_PKTCNT_MASK) {

-				uint32_t pkt = (hctsiz & HCTSIZ_PKTCNT_MASK) >> 19;

-				uint32_t siz = (hctsiz & HCTSIZ_XFRSIZ_MASK);

-				if (pkt * ep->wMaxPacketSize != siz) {

-					uerrf("\t%s: whatttt???", ep->name);

-				}

-			}

-#endif

-

-#if USBH_DEBUG_ENABLE && USBH_LLD_DEBUG_ENABLE_ERRORS

-		} else {

-			/* 0011: IN transfer completed (triggers an interrupt)

-			 * 0101: Data toggle error (triggers an interrupt)

-			 * 0111: Channel halted (triggers an interrupt)

-			 */

-			switch (grxstsp & GRXSTSP_PKTSTS_MASK) {

-			case GRXSTSP_PKTSTS(3):

-			case GRXSTSP_PKTSTS(5):

-			case GRXSTSP_PKTSTS(7):

-				break;

-			default:

-				uerrf("\tRXFLVL: ch=%d, UNK=%d", grxstsp & GRXSTSP_CHNUM_MASK, (grxstsp & GRXSTSP_PKTSTS_MASK) >> 17);

-				break;

-			}

-#endif

-		}

-	}

-	otg->GINTMSK |= GINTMSK_RXFLVLM;

-}

-

-static inline void _nptxfe_int(USBHDriver *host) {

-	uint32_t rem;

-	stm32_otg_t *const otg = host->otg;

-

-	rem = _write_packet(&host->ep_active_lists[USBH_EPTYPE_CTRL],

-			otg->HNPTXSTS & HPTXSTS_PTXFSAVL_MASK);

-

-	rem += _write_packet(&host->ep_active_lists[USBH_EPTYPE_BULK],

-			otg->HNPTXSTS & HPTXSTS_PTXFSAVL_MASK);

-

-//	if (rem)

-//		otg->GINTMSK |= GINTMSK_NPTXFEM;

-

-	if (!rem)

-		otg->GINTMSK &= ~GINTMSK_NPTXFEM;

-

-}

-

-static inline void _ptxfe_int(USBHDriver *host) {

-	//TODO: implement

-	(void)host;

-	uinfo("PTXFE");

-}

-

-static inline void _discint_int(USBHDriver *host) {

-	uint32_t hprt = host->otg->HPRT;

-

-	uwarn("\tDISCINT");

-

-	if (!(hprt & HPRT_PCSTS)) {

-		host->rootport.lld_status &= ~(USBH_PORTSTATUS_CONNECTION | USBH_PORTSTATUS_ENABLE);

-		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_CONNECTION | USBH_PORTSTATUS_C_ENABLE;

-	}

-	_purge_active(host);

-	_purge_pending(host);

-}

-

-static inline void _hprtint_int(USBHDriver *host) {

-	stm32_otg_t *const otg = host->otg;

-	uint32_t hprt = otg->HPRT;

-

-	/* note: writing PENA = 1 actually disables the port */

-	uint32_t hprt_clr = hprt & ~(HPRT_PENA | HPRT_PCDET | HPRT_PENCHNG | HPRT_POCCHNG);

-

-	if (hprt & HPRT_PCDET) {

-		hprt_clr |= HPRT_PCDET;

-		if (hprt & HPRT_PCSTS) {

-			uinfo("\tHPRT: Port connection detected");

-			host->rootport.lld_status |= USBH_PORTSTATUS_CONNECTION;

-			host->rootport.lld_c_status |= USBH_PORTSTATUS_C_CONNECTION;

-		} else {

-			uinfo("\tHPRT: Port disconnection detected");

-		}

-	}

-

-	if (hprt & HPRT_PENCHNG) {

-		hprt_clr |= HPRT_PENCHNG;

-		if (hprt & HPRT_PENA) {

-			uinfo("\tHPRT: Port enabled");

-			host->rootport.lld_status |= USBH_PORTSTATUS_ENABLE;

-			host->rootport.lld_status &= ~(USBH_PORTSTATUS_HIGH_SPEED | USBH_PORTSTATUS_LOW_SPEED);

-

-			/* Make sure the FIFOs are flushed. */

-		    otg_txfifo_flush(host, 0x10);

-		    otg_rxfifo_flush(host);

-

-		    /* Clear all pending HC Interrupts */

-			uint8_t i;

-			for (i = 0; i < host->channels_number; i++) {

-				otg->hc[i].HCINTMSK = 0;

-				otg->hc[i].HCINT = 0xFFFFFFFF;

-			}

-

-			/* configure speed */

-			if ((hprt & HPRT_PSPD_MASK) == HPRT_PSPD_LS) {

-				host->rootport.lld_status |= USBH_PORTSTATUS_LOW_SPEED;

-				otg->HFIR = 6000;

-				otg->HCFG = (otg->HCFG & ~HCFG_FSLSPCS_MASK) | HCFG_FSLSPCS_6;

-			} else {

-				otg->HFIR = 48000;

-				otg->HCFG = (otg->HCFG & ~HCFG_FSLSPCS_MASK) | HCFG_FSLSPCS_48;

-			}

-		} else {

-			if (hprt & HPRT_PCSTS) {

-				if (hprt & HPRT_POCA) {

-					uerr("\tHPRT: Port disabled due to overcurrent");

-				} else {

-					uerr("\tHPRT: Port disabled due to port babble");

-				}

-			} else {

-				uerr("\tHPRT: Port disabled due to disconnect");

-			}

-

-			_purge_active(host);

-			_purge_pending(host);

-

-			host->rootport.lld_status &= ~USBH_PORTSTATUS_ENABLE;

-		}

-		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_ENABLE;

-	}

-

-	if (hprt & HPRT_POCCHNG) {

-		hprt_clr |= HPRT_POCCHNG;

-		if (hprt & HPRT_POCA) {

-			uerr("\tHPRT: Overcurrent");

-			host->rootport.lld_status |= USBH_PORTSTATUS_OVERCURRENT;

-		} else {

-			udbg("\tHPRT: Clear overcurrent");

-			host->rootport.lld_status &= ~USBH_PORTSTATUS_OVERCURRENT;

-		}

-		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_OVERCURRENT;

-	}

-

-	otg->HPRT = hprt_clr;

-}

-

-static void usb_lld_serve_interrupt(USBHDriver *host) {

-	osalDbgCheck(host && (host->status != USBH_STATUS_STOPPED));

-

-	stm32_otg_t *const otg = host->otg;

-	uint32_t gintsts = otg->GINTSTS;

-

-	/* check host mode */

-	if (!(gintsts & GINTSTS_CMOD)) {

-		uerr("Device mode");

-		otg->GINTSTS = gintsts;

-		return;

-	}

-

-	/* check mismatch */

-	if (gintsts & GINTSTS_MMIS) {

-		uerr("Mode Mismatch");

-		otg->GINTSTS = gintsts;

-		return;

-	}

-

-	gintsts &= otg->GINTMSK;

-	if (!gintsts) {

-		uwarnf("GINTSTS=%08x, GINTMSK=%08x", otg->GINTSTS, otg->GINTMSK);

-		return;

-	}

-//	otg->GINTMSK &= ~(GINTMSK_NPTXFEM | GINTMSK_PTXFEM);

-	otg->GINTSTS = gintsts;

-

-	if (gintsts & GINTSTS_SOF)

-		_sof_int(host);

-	if (gintsts & GINTSTS_RXFLVL)

-		_rxflvl_int(host);

-	if (gintsts & GINTSTS_HPRTINT)

-		_hprtint_int(host);

-	if (gintsts & GINTSTS_DISCINT)

-		_discint_int(host);

-	if (gintsts & GINTSTS_HCINT)

-		_hcint_int(host);

-	if (gintsts & GINTSTS_NPTXFE)

-		_nptxfe_int(host);

-	if (gintsts & GINTSTS_PTXFE)

-		_ptxfe_int(host);

-	if (gintsts & GINTSTS_IPXFR) {

-		uerr("IPXFRM");

-	}

-}

-

-

-/*===========================================================================*/

-/* Interrupt handlers.   	    	                                 		 */

-/*===========================================================================*/

-

-#if STM32_USBH_USE_OTG1

-OSAL_IRQ_HANDLER(STM32_OTG1_HANDLER) {

-	OSAL_IRQ_PROLOGUE();

-	osalSysLockFromISR();

-	usb_lld_serve_interrupt(&USBHD1);

-	osalSysUnlockFromISR();

-	OSAL_IRQ_EPILOGUE();

-}

-#endif

-

-#if STM32_USBH_USE_OTG2

-OSAL_IRQ_HANDLER(STM32_OTG2_HANDLER) {

-	OSAL_IRQ_PROLOGUE();

-	osalSysLockFromISR();

-	usb_lld_serve_interrupt(&USBHD2);

-	osalSysUnlockFromISR();

-	OSAL_IRQ_EPILOGUE();

-}

-#endif

-

-

-/*===========================================================================*/

-/* Initialization functions.   	                                     		 */

-/*===========================================================================*/

-static void otg_core_reset(USBHDriver *usbp) {

-  stm32_otg_t *const otgp = usbp->otg;

-

-  /* Wait AHB idle condition.*/

-  while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)

-	;

-

-  osalSysPolledDelayX(64);

-

-  /* Core reset and delay of at least 3 PHY cycles.*/

-  otgp->GRSTCTL = GRSTCTL_CSRST;

-  while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)

-	;

-

-  osalSysPolledDelayX(24);

-

-  /* Wait AHB idle condition.*/

-  while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)

-	;

-}

-

-static void otg_rxfifo_flush(USBHDriver *usbp) {

-  stm32_otg_t *const otgp = usbp->otg;

-

-  otgp->GRSTCTL = GRSTCTL_RXFFLSH;

-  while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)

-	;

-  /* Wait for 3 PHY Clocks.*/

-  osalSysPolledDelayX(24);

-}

-

-static void otg_txfifo_flush(USBHDriver *usbp, uint32_t fifo) {

-  stm32_otg_t *const otgp = usbp->otg;

-

-  otgp->GRSTCTL = GRSTCTL_TXFNUM(fifo) | GRSTCTL_TXFFLSH;

-  while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)

-	;

-  /* Wait for 3 PHY Clocks.*/

-  osalSysPolledDelayX(24);

-}

-

-static void _init(USBHDriver *host) {

-	int i;

-

-	usbhObjectInit(host);

-

-#if STM32_USBH_USE_OTG1

-#if STM32_USBH_USE_OTG2

-	if (&USBHD1 == host) {

-#endif

-		host->otg = OTG_FS;

-		host->channels_number = STM32_OTG1_CHANNELS_NUMBER;

-#if STM32_USBH_USE_OTG2

-	}

-#endif

-#endif

-

-#if STM32_USBH_USE_OTG2

-#if STM32_USBH_USE_OTG1

-	if (&USBHD2 == host) {

-#endif

-		host->otg = OTG_HS;

-		host->channels_number = STM32_OTG2_CHANNELS_NUMBER;

-#if STM32_USBH_USE_OTG1

-	}

-#endif

-#endif

-	INIT_LIST_HEAD(&host->ch_free[0]);

-	INIT_LIST_HEAD(&host->ch_free[1]);

-	for (i = 0; i < host->channels_number; i++) {

-		host->channels[i].haintmsk = 1 << i;

-		host->channels[i].hc = &host->otg->hc[i];

-		host->channels[i].fifo = host->otg->FIFO[i];

-		if (i < STM32_USBH_CHANNELS_NP) {

-			list_add_tail(&host->channels[i].node, &host->ch_free[1]);

-		} else {

-			list_add_tail(&host->channels[i].node, &host->ch_free[0]);

-		}

-	}

-	for (i = 0; i < 4; i++) {

-		INIT_LIST_HEAD(&host->ep_active_lists[i]);

-		INIT_LIST_HEAD(&host->ep_pending_lists[i]);

-	}

-}

-

-void usbh_lld_init(void) {

-#if STM32_USBH_USE_OTG1

-	_init(&USBHD1);

-#endif

-#if STM32_USBH_USE_OTG2

-	_init(&USBHD2);

-#endif

-}

-

-static void _usbh_start(USBHDriver *usbh) {

-	stm32_otg_t *const otgp = usbh->otg;

-

-	/* Clock activation.*/

-#if STM32_USBH_USE_OTG1

-#if STM32_USBH_USE_OTG2

-	if (&USBHD1 == usbh) {

-#endif

-		/* OTG FS clock enable and reset.*/

-		rccEnableOTG_FS(FALSE);

-		rccResetOTG_FS();

-

-		otgp->GINTMSK = 0;

-

-		/* Enables IRQ vector.*/

-		nvicEnableVector(STM32_OTG1_NUMBER, STM32_USB_OTG1_IRQ_PRIORITY);

-#if STM32_USBH_USE_OTG2

-	}

-#endif

-#endif

-

-#if STM32_USBH_USE_OTG2

-#if STM32_USBH_USE_OTG1

-	if (&USBHD2 == usbh) {

-#endif

-		/* OTG HS clock enable and reset.*/

-		rccEnableOTG_HS(FALSE);

-		rccResetOTG_HS();

-

-		otgp->GINTMSK = 0;

-

-		/* Enables IRQ vector.*/

-		nvicEnableVector(STM32_OTG2_NUMBER, STM32_USB_OTG2_IRQ_PRIORITY);

-#if STM32_USBH_USE_OTG1

-	}

-#endif

-#endif

-

-	otgp->GUSBCFG = GUSBCFG_PHYSEL | GUSBCFG_TRDT(5);

-

-	otg_core_reset(usbh);

-

-	otgp->GCCFG = GCCFG_PWRDWN;

-

-	/* Forced host mode. */

-	otgp->GUSBCFG = GUSBCFG_FHMOD | GUSBCFG_PHYSEL | GUSBCFG_TRDT(5);

-

-	/* PHY enabled.*/

-	otgp->PCGCCTL = 0;

-

-	/* Internal FS PHY activation.*/

-#if defined(BOARD_OTG_NOVBUSSENS)

-	otgp->GCCFG = GCCFG_NOVBUSSENS | GCCFG_PWRDWN;

-#else

-	otgp->GCCFG = GCCFG_PWRDWN;

-#endif

-

-	/* 48MHz 1.1 PHY.*/

-	otgp->HCFG = HCFG_FSLSS | HCFG_FSLSPCS_48;

-

-	/* Interrupts on FIFOs half empty.*/

-	otgp->GAHBCFG = 0;

-

-	otgp->GOTGINT = 0xFFFFFFFF;

-

-	otgp->HPRT |= HPRT_PPWR;

-

-	/* without this delay, the FIFO sizes are set INcorrectly */

-	osalThreadSleepS(MS2ST(200));

-

-#define HNPTXFSIZ						DIEPTXF0

-#if STM32_USBH_USE_OTG1

-#if STM32_USBH_USE_OTG2

-	if (&USBHD1 == usbh) {

-#endif

-		otgp->GRXFSIZ = GRXFSIZ_RXFD(STM32_OTG1_RXFIFO_SIZE / 4);

-		otgp->HNPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG1_RXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG1_NPTXFIFO_SIZE / 4);

-		otgp->HPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG1_RXFIFO_SIZE / 4) + (STM32_OTG1_NPTXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG1_PTXFIFO_SIZE / 4);

-#if STM32_USBH_USE_OTG2

-	}

-#endif

-#endif

-#if STM32_USBH_USE_OTG2

-#if STM32_USBH_USE_OTG1

-	if (&USBHD2 == usbh) {

-#endif

-		otgp->GRXFSIZ = GRXFSIZ_RXFD(STM32_OTG2_RXFIFO_SIZE / 4);

-		otgp->HNPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG2_RXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG2_NPTXFIFO_SIZE / 4);

-		otgp->HPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG2_RXFIFO_SIZE / 4) + (STM32_OTG2_NPTXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG2_PTXFIFO_SIZE / 4);

-#if STM32_USBH_USE_OTG1

-	}

-#endif

-#endif

-

-	otg_txfifo_flush(usbh, 0x10);

-	otg_rxfifo_flush(usbh);

-

-	otgp->GINTSTS = 0xffffffff;

-	otgp->GINTMSK = GINTMSK_DISCM /*| GINTMSK_PTXFEM*/ | GINTMSK_HCM | GINTMSK_HPRTM

-					/*| GINTMSK_IPXFRM | GINTMSK_NPTXFEM*/ | GINTMSK_RXFLVLM

-					/*| GINTMSK_SOFM */ | GINTMSK_MMISM;

-

-	usbh->rootport.lld_status = USBH_PORTSTATUS_POWER;

-	usbh->rootport.lld_c_status = 0;

-

-	/* Global interrupts enable.*/

-	otgp->GAHBCFG |= GAHBCFG_GINTMSK;

-}

-

-void usbh_lld_start(USBHDriver *usbh) {

-	if (usbh->status != USBH_STATUS_STOPPED) return;

-	_usbh_start(usbh);

-}

-

-/*===========================================================================*/

-/* Root Hub request handler.   	                                     		 */

-/*===========================================================================*/

-usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestType, uint8_t bRequest,

-		uint16_t wvalue, uint16_t windex, uint16_t wlength, uint8_t *buf) {

-

-	uint16_t typereq = (bmRequestType << 8) | bRequest;

-

-	switch (typereq) {

-	case ClearHubFeature:

-		switch (wvalue) {

-		case USBH_HUB_FEAT_C_HUB_LOCAL_POWER:

-		case USBH_HUB_FEAT_C_HUB_OVER_CURRENT:

-			break;

-		default:

-			osalDbgAssert(0, "invalid wvalue");

-		}

-		break;

-

-	case ClearPortFeature:

-		chDbgAssert(windex == 1, "invalid windex");

-

-		osalSysLock();

-		switch (wvalue) {

-		case USBH_PORT_FEAT_ENABLE:

-		case USBH_PORT_FEAT_SUSPEND:

-		case USBH_PORT_FEAT_POWER:

-			chDbgAssert(0, "unimplemented");	/* TODO */

-			break;

-

-		case USBH_PORT_FEAT_INDICATOR:

-			chDbgAssert(0, "unsupported");

-			break;

-

-		case USBH_PORT_FEAT_C_CONNECTION:

-			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_CONNECTION;

-			break;

-

-		case USBH_PORT_FEAT_C_RESET:

-			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_RESET;

-			break;

-

-		case USBH_PORT_FEAT_C_ENABLE:

-			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_ENABLE;

-			break;

-

-		case USBH_PORT_FEAT_C_SUSPEND:

-			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_SUSPEND;

-			break;

-

-		case USBH_PORT_FEAT_C_OVERCURRENT:

-			usbh->rootport.lld_c_status &= USBH_PORTSTATUS_C_OVERCURRENT;

-			break;

-

-		default:

-			osalDbgAssert(0, "invalid wvalue");

-			break;

-		}

-		osalOsRescheduleS();

-		osalSysUnlock();

-		break;

-

-	case GetHubDescriptor:

-		/*dev_dbg(hsotg->dev, "GetHubDescriptor\n");

-		hub_desc = (struct usb_hub_descriptor *)buf;

-		hub_desc->bDescLength = 9;

-		hub_desc->bDescriptorType = USB_DT_HUB;

-		hub_desc->bNbrPorts = 1;

-		hub_desc->wHubCharacteristics =

-			cpu_to_le16(HUB_CHAR_COMMON_LPSM |

-					HUB_CHAR_INDV_PORT_OCPM);

-		hub_desc->bPwrOn2PwrGood = 1;

-		hub_desc->bHubContrCurrent = 0;

-		hub_desc->u.hs.DeviceRemovable[0] = 0;

-		hub_desc->u.hs.DeviceRemovable[1] = 0xff;*/

-		break;

-

-	case GetHubStatus:

-		osalDbgCheck(wlength >= 4);

-		*(uint32_t *)buf = 0;

-		break;

-

-	case GetPortStatus:

-		chDbgAssert(windex == 1, "invalid windex");

-		osalDbgCheck(wlength >= 4);

-		osalSysLock();

-		*(uint32_t *)buf = usbh->rootport.lld_status | (usbh->rootport.lld_c_status << 16);

-		osalOsRescheduleS();

-		osalSysUnlock();

-		break;

-

-	case SetHubFeature:

-		chDbgAssert(0, "unsupported");

-		break;

-

-	case SetPortFeature:

-		chDbgAssert(windex == 1, "invalid windex");

-

-		switch (wvalue) {

-		case USBH_PORT_FEAT_TEST:

-		case USBH_PORT_FEAT_SUSPEND:

-		case USBH_PORT_FEAT_POWER:

-			chDbgAssert(0, "unimplemented");	/* TODO */

-			break;

-

-		case USBH_PORT_FEAT_RESET: {

-			osalSysLock();

-			stm32_otg_t *const otg = usbh->otg;

-			uint32_t hprt;

-			otg->PCGCCTL = 0;

-			hprt = otg->HPRT;

-			/* note: writing PENA = 1 actually disables the port */

-			hprt &= ~(HPRT_PSUSP | HPRT_PENA | HPRT_PCDET | HPRT_PENCHNG | HPRT_POCCHNG );

-			otg->HPRT = hprt | HPRT_PRST;

-			osalThreadSleepS(MS2ST(60));

-			otg->HPRT = hprt;

-			usbh->rootport.lld_c_status |= USBH_PORTSTATUS_C_RESET;

-			osalOsRescheduleS();

-			osalSysUnlock();

-		} 	break;

-

-		case USBH_PORT_FEAT_INDICATOR:

-			chDbgAssert(0, "unsupported");

-			break;

-

-		default:

-			osalDbgAssert(0, "invalid wvalue");

-			break;

-		}

-		break;

-

-	default:

-		osalDbgAssert(0, "invalid typereq");

-		break;

-	}

-

-	return USBH_URBSTATUS_OK;

-}

-

-uint8_t usbh_lld_roothub_get_statuschange_bitmap(USBHDriver *usbh) {

-	osalSysLock();

-	if (usbh->rootport.lld_c_status) {

-		osalOsRescheduleS();

-		osalSysUnlock();

-		return 1 << 1;

-	}

-	osalOsRescheduleS();

-	osalSysUnlock();

-	return 0;

-}

-

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+#include "usbh/internal.h"
+#include <string.h>
+
+#if USBH_LLD_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBH_LLD_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBH_LLD_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBH_LLD_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+static void _transfer_completedI(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status);
+static void _try_commit_np(USBHDriver *host);
+static void otg_rxfifo_flush(USBHDriver *usbp);
+static void otg_txfifo_flush(USBHDriver *usbp, uint32_t fifo);
+
+/*===========================================================================*/
+/* Little helper functions.	    	                                 		 */
+/*===========================================================================*/
+static inline void _move_to_pending_queue(usbh_ep_t *ep) {
+	list_move_tail(&ep->node, ep->pending_list);
+}
+
+static inline usbh_urb_t *_active_urb(usbh_ep_t *ep) {
+	return list_first_entry(&ep->urb_list, usbh_urb_t, node);
+}
+
+static inline void _save_dt_mask(usbh_ep_t *ep, uint32_t hctsiz) {
+	ep->dt_mask = hctsiz & HCTSIZ_DPID_MASK;
+}
+
+#if 1
+#define _transfer_completed _transfer_completedI
+#else
+static inline void _transfer_completed(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalSysLockFromISR();
+	_transfer_completedI(ep, urb, status);
+	osalSysUnlockFromISR();
+}
+#endif
+
+/*===========================================================================*/
+/* Functions called from many places.                                 		 */
+/*===========================================================================*/
+static void _transfer_completedI(usbh_ep_t *ep, usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassI();
+
+	urb->queued = FALSE;
+
+	/* remove URB from EP's queue */
+	list_del_init(&urb->node);
+
+	/* Call the callback function now, so that if it calls usbhURBSubmitI,
+	 * the list_empty check below will be false. Also, note that the
+	 *   if (list_empty(&ep->node)) {
+	 *     ...
+	 *   }
+	 * in usbh_lld_urb_submit will be false, since the endpoint is
+	 * still in the active queue.
+	 */
+	_usbh_urb_completeI(urb, status);
+
+	if (list_empty(&ep->urb_list)) {
+		/* no more URBs to process in this EP, remove EP from the host's queue */
+		list_del_init(&ep->node);
+	} else {
+		/* more URBs to process */
+		_move_to_pending_queue(ep);
+	}
+}
+
+static void _halt_channel(USBHDriver *host, stm32_hc_management_t *hcm, usbh_lld_halt_reason_t reason) {
+	(void)host;
+
+	if (hcm->halt_reason != USBH_LLD_HALTREASON_NONE) {
+		uwarnf("\t%s: Repeated halt (original=%d, new=%d)", hcm->ep->name, hcm->halt_reason, reason);
+		return;
+	}
+
+#if CH_DBG_ENABLE_CHECKS
+	if (usbhEPIsPeriodic(hcm->ep)) {
+		osalDbgCheck(host->otg->HPTXSTS & HPTXSTS_PTXQSAV_MASK);
+	} else {
+		osalDbgCheck(host->otg->HNPTXSTS & HPTXSTS_PTXQSAV_MASK);
+	}
+#endif
+
+	hcm->halt_reason = reason;
+	hcm->hc->HCCHAR |= HCCHAR_CHENA | HCCHAR_CHDIS;
+}
+
+static void _release_channel(USBHDriver *host, stm32_hc_management_t *hcm) {
+//	static const char *reason[] =  {"XFRC",	"XFRC",	"NAK", "STALL",	"ERROR", "ABORT"};
+//	udbgf("\t%s: release (%s)", hcm->ep->name, reason[hcm->halt_reason]);
+	hcm->hc->HCINTMSK = 0;
+	host->otg->HAINTMSK &= ~hcm->haintmsk;
+	hcm->halt_reason = USBH_LLD_HALTREASON_NONE;
+	if (usbhEPIsPeriodic(hcm->ep)) {
+		list_add(&hcm->node, &host->ch_free[0]);
+	} else {
+		list_add(&hcm->node, &host->ch_free[1]);
+	}
+	hcm->ep->xfer.hcm = 0;
+	hcm->ep = 0;
+}
+
+static bool _activate_ep(USBHDriver *host, usbh_ep_t *ep) {
+	struct list_head *list;
+	uint16_t spc;
+
+	osalDbgCheck(ep->xfer.hcm == NULL);
+
+	if (usbhEPIsPeriodic(ep)) {
+		list = &host->ch_free[0];
+		spc = (host->otg->HPTXSTS >> 16) & 0xff;
+	} else {
+		list = &host->ch_free[1];
+		spc = (host->otg->HNPTXSTS >> 16) & 0xff;
+	}
+
+	if (list_empty(list)) {
+		uwarnf("\t%s: No free %s channels", ep->name, usbhEPIsPeriodic(ep) ? "P" : "NP");
+		return FALSE;
+	}
+
+	if (spc <= STM32_USBH_MIN_QSPACE) {
+		uwarnf("\t%s: No space in %s Queue (spc=%d)", ep->name, usbhEPIsPeriodic(ep) ? "P" : "NP", spc);
+		return FALSE;
+	}
+
+	/* get the first channel */
+	stm32_hc_management_t *hcm = list_first_entry(list, stm32_hc_management_t, node);
+	osalDbgCheck((hcm->halt_reason == USBH_LLD_HALTREASON_NONE) && (hcm->ep == NULL));
+
+	usbh_urb_t *const urb = _active_urb(ep);
+	uint32_t hcintmsk = ep->hcintmsk;
+	uint32_t hcchar = ep->hcchar;
+	uint16_t mps = ep->wMaxPacketSize;
+
+	uint32_t xfer_packets;
+	uint32_t xfer_len = 0;	//Initialize just to shut up a compiler warning
+
+	osalDbgCheck(urb->status == USBH_URBSTATUS_PENDING);
+
+	/* check if the URB is a new one, or we must continue a previously started URB */
+	if (urb->queued == FALSE) {
+		/* prepare EP for a new URB */
+		if (ep->type == USBH_EPTYPE_CTRL) {
+			xfer_len = 8;
+			ep->xfer.buf = (uint8_t *)urb->setup_buff;
+			ep->dt_mask = HCTSIZ_DPID_SETUP;
+			ep->in = FALSE;
+			ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_SETUP;
+		} else {
+			xfer_len = urb->requestedLength;
+			ep->xfer.buf = urb->buff;
+		}
+		ep->xfer.error_count = 0;
+		//urb->status = USBH_URBSTATUS_QUEUED;
+	} else {
+		osalDbgCheck(urb->requestedLength >= urb->actualLength);
+
+		if (ep->type == USBH_EPTYPE_CTRL) {
+			switch (ep->xfer.u.ctrl_phase) {
+			case USBH_LLD_CTRLPHASE_SETUP:
+				xfer_len = 8;
+				ep->xfer.buf = (uint8_t *)urb->setup_buff;
+				ep->dt_mask = HCTSIZ_DPID_SETUP;
+				break;
+			case USBH_LLD_CTRLPHASE_DATA:
+				xfer_len = urb->requestedLength - urb->actualLength;
+				ep->xfer.buf = (uint8_t *) urb->buff + urb->actualLength;
+				break;
+			case USBH_LLD_CTRLPHASE_STATUS:
+				xfer_len = 0;
+				ep->dt_mask = HCTSIZ_DPID_DATA1;
+				ep->xfer.error_count = 0;
+				break;
+			default:
+				osalDbgCheck(0);
+			}
+			if (ep->in) {
+				hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;
+				hcchar |= HCCHAR_EPDIR;
+			}
+		} else {
+			xfer_len = urb->requestedLength - urb->actualLength;
+			ep->xfer.buf = (uint8_t *) urb->buff + urb->actualLength;
+		}
+
+		if (ep->xfer.error_count)
+			hcintmsk |= HCINTMSK_ACKM;
+
+	}
+	ep->xfer.partial = 0;
+
+	if (ep->type == USBH_EPTYPE_ISO) {
+		ep->dt_mask = HCTSIZ_DPID_DATA0;
+
+		/* [USB 2.0 spec, 5.6.4]: A host must not issue more than 1
+		 * transaction in a (micro)frame for an isochronous endpoint
+		 * unless the endpoint is high-speed, high-bandwidth.
+		 */
+		if (xfer_len > mps)
+			xfer_len = mps;
+	} else if (xfer_len > 0x7FFFF) {
+		xfer_len = 0x7FFFF - mps + 1;
+	}
+
+	/* calculate required packets */
+	if (xfer_len) {
+		xfer_packets = (xfer_len + mps - 1) / mps;
+
+		if (xfer_packets > 0x3FF) {
+			xfer_packets = 0x3FF;
+			xfer_len = xfer_packets * mps;
+		}
+	} else {
+		xfer_packets = 1;	/* Need 1 packet for transfer length of 0 */
+	}
+
+	if (ep->in)
+		xfer_len = xfer_packets * mps;
+
+	/* Clear old interrupt conditions,
+	 * configure transfer size,
+	 * enable required interrupts */
+	stm32_otg_host_chn_t *const hc = hcm->hc;
+	hc->HCINT = 0xffffffff;
+	hc->HCTSIZ = ep->dt_mask
+					| HCTSIZ_PKTCNT(xfer_packets)
+					| HCTSIZ_XFRSIZ(xfer_len);
+	hc->HCINTMSK = hcintmsk;
+
+	/* Queue the transfer for the next frame (no effect for non-periodic transfers) */
+	if (!(host->otg->HFNUM & 1))
+		hcchar |= HCCHAR_ODDFRM;
+
+	/* configure channel characteristics and queue a request */
+	hc->HCCHAR = hcchar;
+	if (ep->in && (xfer_packets > 1)) {
+		/* For IN transfers, try to queue two back-to-back packets.
+		 * This results in a 1% performance gain for Full Speed transfers
+		 */
+		if (--spc > STM32_USBH_MIN_QSPACE) {
+			hc->HCCHAR |= HCCHAR_CHENA;
+		} else {
+			uwarnf("\t%s: Could not queue back-to-back packets", ep->name);
+		}
+	}
+
+	if (urb->queued == FALSE) {
+		urb->queued = TRUE;
+		udbgf("\t%s: Start (%dB)", ep->name, xfer_len);
+	} else {
+		udbgf("\t%s: Restart (%dB)", ep->name, xfer_len);
+	}
+
+	ep->xfer.len = xfer_len;
+	ep->xfer.packets = (uint16_t)xfer_packets;
+
+	/* remove the channel from the free list, link endpoint <-> channel and move to the active queue*/
+	list_del(&hcm->node);
+	ep->xfer.hcm = hcm;
+	hcm->ep = ep;
+	list_move_tail(&ep->node, ep->active_list);
+
+
+	stm32_otg_t *const otg = host->otg;
+
+	/* enable this channel's interrupt and global channel interrupt */
+	otg->HAINTMSK |= hcm->haintmsk;
+	if (ep->in) {
+		otg->GINTMSK |= GINTMSK_HCM;
+	} else if (usbhEPIsPeriodic(ep)) {
+		otg->GINTMSK |= GINTMSK_HCM | GINTMSK_PTXFEM;
+	} else {
+		//TODO: write to the FIFO now
+		otg->GINTMSK |= GINTMSK_HCM | GINTMSK_NPTXFEM;
+	}
+
+	return TRUE;
+}
+
+static bool _update_urb(usbh_ep_t *ep, uint32_t hctsiz, usbh_urb_t *urb, bool completed) {
+	uint32_t len;
+
+	if (!completed) {
+		len = ep->wMaxPacketSize * (ep->xfer.packets - ((hctsiz & HCTSIZ_PKTCNT_MASK) >> 19));
+	} else {
+		if (ep->in) {
+			len = ep->xfer.len - ((hctsiz & HCTSIZ_XFRSIZ_MASK) >> 0);
+		} else {
+			len = ep->xfer.len;
+		}
+		osalDbgCheck(len == ep->xfer.partial);	//TODO: if len == ep->xfer.partial, use this instead of the above code
+	}
+
+#if 1
+	osalDbgAssert(urb->actualLength + len <= urb->requestedLength, "what happened?");
+#else
+	if (urb->actualLength + len > urb->requestedLength) {
+		uerrf("\t%s: Trimming actualLength %u -> %u", ep->name, urb->actualLength + len, urb->requestedLength);
+		urb->actualLength = urb->requestedLength;
+		return TRUE;
+	}
+#endif
+
+	urb->actualLength += len;
+	if ((urb->actualLength == urb->requestedLength)
+			|| (ep->in && completed && (hctsiz & HCTSIZ_XFRSIZ_MASK)))
+		return TRUE;
+
+	return FALSE;
+}
+
+static void _try_commit_np(USBHDriver *host) {
+	usbh_ep_t *item, *tmp;
+
+	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_CTRL], node) {
+		if (!_activate_ep(host, item))
+			return;
+	}
+
+	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_BULK], node) {
+		if (!_activate_ep(host, item))
+			return;
+	}
+}
+
+static void _try_commit_p(USBHDriver *host, bool sof) {
+	usbh_ep_t *item, *tmp;
+
+	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_ISO], node) {
+		if (!_activate_ep(host, item))
+			return;
+	}
+
+	list_for_each_entry_safe(item, usbh_ep_t, tmp, &host->ep_pending_lists[USBH_EPTYPE_INT], node) {
+		osalDbgCheck(item);
+		/* TODO: improve this */
+		if (sof && item->xfer.u.frame_counter)
+			--item->xfer.u.frame_counter;
+
+		if (item->xfer.u.frame_counter == 0) {
+			if (!_activate_ep(host, item))
+				return;
+			item->xfer.u.frame_counter = item->bInterval;
+		}
+	}
+
+	if (list_empty(&host->ep_pending_lists[USBH_EPTYPE_ISO])
+		&& list_empty(&host->ep_pending_lists[USBH_EPTYPE_INT])) {
+		host->otg->GINTMSK &= ~GINTMSK_SOFM;
+	} else {
+		host->otg->GINTMSK |= GINTMSK_SOFM;
+	}
+}
+
+static void _purge_queue(USBHDriver *host, struct list_head *list) {
+	usbh_ep_t *ep, *tmp;
+	list_for_each_entry_safe(ep, usbh_ep_t, tmp, list, node) {
+		usbh_urb_t *const urb = _active_urb(ep);
+		stm32_hc_management_t *const hcm = ep->xfer.hcm;
+		uwarnf("\t%s: Abort URB, USBH_URBSTATUS_DISCONNECTED", ep->name);
+		if (hcm) {
+			uwarnf("\t%s: URB had channel %d assigned, halt_reason = %d", ep->name, hcm - host->channels, hcm->halt_reason);
+			_release_channel(host, hcm);
+			_update_urb(ep, hcm->hc->HCTSIZ, urb, FALSE);
+		}
+		_transfer_completed(ep, urb, USBH_URBSTATUS_DISCONNECTED);
+	}
+}
+
+static void _purge_active(USBHDriver *host) {
+	_purge_queue(host, &host->ep_active_lists[0]);
+	_purge_queue(host, &host->ep_active_lists[1]);
+	_purge_queue(host, &host->ep_active_lists[2]);
+	_purge_queue(host, &host->ep_active_lists[3]);
+}
+
+static void _purge_pending(USBHDriver *host) {
+	_purge_queue(host, &host->ep_pending_lists[0]);
+	_purge_queue(host, &host->ep_pending_lists[1]);
+	_purge_queue(host, &host->ep_pending_lists[2]);
+	_purge_queue(host, &host->ep_pending_lists[3]);
+}
+
+static uint32_t _write_packet(struct list_head *list, uint32_t space_available) {
+	usbh_ep_t *ep;
+
+	uint32_t remaining = 0;
+
+	list_for_each_entry(ep, usbh_ep_t, list, node) {
+		if (ep->in || (ep->xfer.hcm->halt_reason != USBH_LLD_HALTREASON_NONE))
+			continue;
+
+		int32_t rem = ep->xfer.len - ep->xfer.partial;
+		osalDbgCheck(rem >= 0);
+		if (rem <= 0)
+			continue;
+
+		remaining += rem;
+
+		if (!space_available) {
+			if (remaining)
+				break;
+
+			continue;
+		}
+
+		/* write one packet only */
+		if (rem > ep->wMaxPacketSize)
+			rem = ep->wMaxPacketSize;
+
+		/* round up to dwords */
+		uint32_t words = (rem + 3) / 4;
+
+		if (words > space_available)
+			words = space_available;
+
+		space_available -= words;
+
+		uint32_t written = words * 4;
+		if ((int32_t)written > rem)
+			written = rem;
+
+		volatile uint32_t *dest = ep->xfer.hcm->fifo;
+		uint32_t *src = (uint32_t *)ep->xfer.buf;
+		udbgf("\t%s: write %d words (%dB), partial=%d", ep->name, words, written, ep->xfer.partial);
+		while (words--) {
+			*dest = *src++;
+		}
+
+		ep->xfer.buf += written;
+		ep->xfer.partial += written;
+
+		remaining -= written;
+	}
+
+	return remaining;
+}
+
+
+/*===========================================================================*/
+/* API.					   	    	                                 		 */
+/*===========================================================================*/
+
+void usbh_lld_ep_object_init(usbh_ep_t *ep) {
+/*			CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+ * STALL		si		sólo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)
+ * ACK			si			si			si			si			si			si			no			no		ep->type != ISO
+ * NAK			si			si			si			si			si			si			no			no		ep->type != ISO
+ * BBERR		si			no			si			no			si			no			si			no		ep->in
+ * TRERR		si			si			si			si			si			si			si			no		ep->type != ISO || ep->in
+ * DTERR		si			no			si			no			si			no			no			no		ep->type != ISO && ep->in
+ * FRMOR		no			no			si			si			no			no			si			si		ep->type = PERIODIC
+ */
+	USBHDriver *host = ep->device->host;
+	uint32_t hcintmsk = HCINTMSK_CHHM | HCINTMSK_XFRCM | HCINTMSK_AHBERRM;
+
+	switch (ep->type) {
+	case USBH_EPTYPE_ISO:
+		hcintmsk |= HCINTMSK_FRMORM;
+		if (ep->in) {
+			hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_BBERRM;
+		}
+		break;
+	case USBH_EPTYPE_INT:
+		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_FRMORM | HCINTMSK_STALLM | HCINTMSK_NAKM;
+		if (ep->in) {
+			hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;
+		}
+		ep->xfer.u.frame_counter = 1;
+		break;
+	case USBH_EPTYPE_CTRL:
+		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_STALLM | HCINTMSK_NAKM;
+		break;
+	case USBH_EPTYPE_BULK:
+		hcintmsk |= HCINTMSK_TRERRM | HCINTMSK_STALLM | HCINTMSK_NAKM;
+		if (ep->in) {
+			hcintmsk |= HCINTMSK_DTERRM | HCINTMSK_BBERRM;
+		}
+		break;
+	default:
+		chDbgCheck(0);
+	}
+	ep->active_list = &host->ep_active_lists[ep->type];
+	ep->pending_list = &host->ep_pending_lists[ep->type];
+	INIT_LIST_HEAD(&ep->urb_list);
+	INIT_LIST_HEAD(&ep->node);
+
+	ep->hcintmsk = hcintmsk;
+	ep->hcchar = HCCHAR_CHENA
+			| HCCHAR_DAD(ep->device->address)
+			| HCCHAR_MCNT(1)
+			| HCCHAR_EPTYP(ep->type)
+			| ((ep->device->speed == USBH_DEVSPEED_LOW) ? HCCHAR_LSDEV : 0)
+			| (ep->in ? HCCHAR_EPDIR : 0)
+			| HCCHAR_EPNUM(ep->address)
+			| HCCHAR_MPS(ep->wMaxPacketSize);
+}
+
+void usbh_lld_ep_open(usbh_ep_t *ep) {
+	uinfof("\t%s: Open EP", ep->name);
+	ep->status = USBH_EPSTATUS_OPEN;
+	osalOsRescheduleS();
+}
+
+void usbh_lld_ep_close(usbh_ep_t *ep) {
+	usbh_urb_t *urb, *tmp;
+	uinfof("\t%s: Closing EP...", ep->name);
+	list_for_each_entry_safe(urb, usbh_urb_t, tmp, &ep->urb_list, node) {
+		uinfof("\t%s: Abort URB, USBH_URBSTATUS_DISCONNECTED", ep->name);
+		_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_DISCONNECTED);
+	}
+	uinfof("\t%s: Closed", ep->name);
+	ep->status = USBH_EPSTATUS_CLOSED;
+	osalOsRescheduleS();
+}
+
+void usbh_lld_urb_submit(usbh_urb_t *urb) {
+	usbh_ep_t *const ep = urb->ep;
+
+	/* add the URB to the EP's queue */
+	list_add_tail(&urb->node, &ep->urb_list);
+
+	/* check if the EP wasn't in any queue (pending nor active) */
+	if (list_empty(&ep->node)) {
+
+		/* add the EP to the pending queue */
+		_move_to_pending_queue(ep);
+
+		if (usbhEPIsPeriodic(ep)) {
+			ep->device->host->otg->GINTMSK |= GINTMSK_SOFM;
+		} else {
+			/* try to queue non-periodic transfers */
+			_try_commit_np(ep->device->host);
+		}
+	}
+}
+
+bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheck(usbhURBIsBusy(urb));
+
+	usbh_ep_t *const ep = urb->ep;
+	osalDbgCheck(ep);
+	stm32_hc_management_t *const hcm = ep->xfer.hcm;
+
+	if ((hcm != NULL) && (urb == _active_urb(ep))) {
+		/* This URB is active (channel assigned, top of the EP's URB list) */
+
+		if (hcm->halt_reason == USBH_LLD_HALTREASON_NONE) {
+			/* The channel is not being halted */
+			urb->status = status;
+			_halt_channel(ep->device->host, hcm, USBH_LLD_HALTREASON_ABORT);
+		} else {
+			/* The channel is being halted, so we can't re-halt it. The CHH interrupt will
+			 * be in charge of completing the transfer, but the URB will not have the specified status.
+			 */
+		}
+		return FALSE;
+	}
+
+	/* This URB is active, we can cancel it now */
+	_transfer_completedI(ep, urb, status);
+
+	return TRUE;
+}
+
+
+/*===========================================================================*/
+/* Channel Interrupts.   	    	                                 		 */
+/*===========================================================================*/
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si			si			si			si			si			si			no			no		ep->type != ISO && !ep->in
+static inline void _ack_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	(void)host;
+	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "ACK should not happen in ISO endpoints");
+	hcm->ep->xfer.error_count = 0;
+	hc->HCINTMSK &= ~HCINTMSK_ACKM;
+	udbgf("\t%s: ACK", hcm->ep->name);
+}
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si			no			si			no			si			no			no			no		ep->type != ISO && ep->in
+static inline void _dterr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	(void)host;
+	osalDbgAssert(hcm->ep->in && (hcm->ep->type != USBH_EPTYPE_ISO), "DTERR should not happen in OUT or ISO endpoints");
+#if 0
+	hc->HCINTMSK &= ~(HCINTMSK_DTERRM | HCINTMSK_ACKM);
+	hcm->ep->xfer.error_count = 0;
+	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);
+#else
+	/* restart directly, no need to halt it in this case */
+	hcm->ep->xfer.error_count = 0;
+	hc->HCINTMSK &= ~HCINTMSK_ACKM;
+	hc->HCCHAR |= HCCHAR_CHENA;
+#endif
+	uerrf("\t%s: DTERR", hcm->ep->name);
+}
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si			no			si			no			si			no			si			no		ep->in
+static inline void _bberr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	osalDbgAssert(hcm->ep->in, "BBERR should not happen in OUT endpoints");
+	hc->HCINTMSK &= ~HCINTMSK_BBERRM;
+	hcm->ep->xfer.error_count = 3;
+	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);
+	uerrf("\t%s: BBERR", hcm->ep->name);
+}
+
+///CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si			si			si			si			si			si			si			no		ep->type != ISO || ep->in
+static inline void _trerr_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	osalDbgAssert(hcm->ep->in || (hcm->ep->type != USBH_EPTYPE_ISO), "TRERR should not happen in ISO OUT endpoints");
+	hc->HCINTMSK &= ~HCINTMSK_TRERRM;
+	++hcm->ep->xfer.error_count;
+	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);
+	uerrf("\t%s: TRERR", hcm->ep->name);
+}
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	no			no			si			si			no			no			si			si		ep->type = PERIODIC
+static inline void _frmor_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	osalDbgAssert(usbhEPIsPeriodic(hcm->ep), "FRMOR should not happen in non-periodic endpoints");
+	hc->HCINTMSK &= ~HCINTMSK_FRMORM;
+	hcm->ep->xfer.error_count = 3;
+	_halt_channel(host, hcm, USBH_LLD_HALTREASON_ERROR);
+	uerrf("\t%s: FRMOR", hcm->ep->name);
+}
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si			si			si			si			si			si			no			no		ep->type != ISO
+static inline void _nak_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "NAK should not happen in ISO endpoints");
+	if (!hcm->ep->in || (hcm->ep->type == USBH_EPTYPE_INT)) {
+		hc->HCINTMSK &= ~HCINTMSK_NAKM;
+		_halt_channel(host, hcm, USBH_LLD_HALTREASON_NAK);
+	} else {
+		/* restart directly, no need to halt it in this case */
+		hcm->ep->xfer.error_count = 0;
+		hc->HCINTMSK &= ~HCINTMSK_ACKM;
+		hc->HCCHAR |= HCCHAR_CHENA;
+	}
+	udbgf("\t%s: NAK", hcm->ep->name);
+}
+
+//CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
+//	si		sólo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)
+static inline void _stall_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	osalDbgAssert(hcm->ep->type != USBH_EPTYPE_ISO, "STALL should not happen in ISO endpoints");
+	hc->HCINTMSK &= ~HCINTMSK_STALLM;
+	_halt_channel(host, hcm, USBH_LLD_HALTREASON_STALL);
+	uwarnf("\t%s: STALL", hcm->ep->name);
+}
+
+static void _complete_bulk_int(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {
+	_release_channel(host, hcm);
+	_save_dt_mask(ep, hctsiz);
+	if (_update_urb(ep, hctsiz, urb, TRUE)) {
+		udbgf("\t%s: done", ep->name);
+		_transfer_completed(ep, urb, USBH_URBSTATUS_OK);
+	} else {
+		osalDbgCheck(urb->requestedLength > 0x7FFFF);
+		uwarnf("\t%s: incomplete", ep->name);
+		_move_to_pending_queue(ep);
+	}
+	if (usbhEPIsPeriodic(ep)) {
+		_try_commit_p(host, FALSE);
+	} else {
+		_try_commit_np(host);
+	}
+}
+
+static void _complete_control(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {
+	osalDbgCheck(ep->xfer.u.ctrl_phase != USBH_LLD_CTRLPHASE_SETUP);
+
+	_release_channel(host, hcm);
+	if (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_DATA) {
+		if (_update_urb(ep, hctsiz, urb, TRUE)) {
+			udbgf("\t%s: DATA done", ep->name);
+			ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_STATUS;
+			ep->in = !ep->in;
+		} else {
+			osalDbgCheck(urb->requestedLength > 0x7FFFF);
+			uwarnf("\t%s: DATA incomplete", ep->name);
+			_save_dt_mask(ep, hctsiz);
+		}
+		_move_to_pending_queue(ep);
+	} else {
+		osalDbgCheck(ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_STATUS);
+		udbgf("\t%s: STATUS done", ep->name);
+		_transfer_completed(ep, urb, USBH_URBSTATUS_OK);
+	}
+	_try_commit_np(host);
+}
+
+static void _complete_control_setup(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb) {
+	_release_channel(host, hcm);
+	if (urb->requestedLength) {
+		udbgf("\t%s: SETUP done -> DATA", ep->name);
+		ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_DATA;
+		ep->in = *((uint8_t *)urb->setup_buff) & 0x80 ? TRUE : FALSE;
+		ep->dt_mask = HCTSIZ_DPID_DATA1;
+		ep->xfer.error_count = 0;
+	} else {
+		udbgf("\t%s: SETUP done -> STATUS", ep->name);
+		ep->in = TRUE;
+		ep->xfer.u.ctrl_phase = USBH_LLD_CTRLPHASE_STATUS;
+	}
+	_move_to_pending_queue(ep);
+	_try_commit_np(host);
+}
+
+static void _complete_iso(USBHDriver *host, stm32_hc_management_t *hcm, usbh_ep_t *ep, usbh_urb_t *urb, uint32_t hctsiz) {
+	udbgf("\t%s: done", hcm->ep->name);
+	_release_channel(host, hcm);
+	_update_urb(ep, hctsiz, urb, TRUE);
+	_transfer_completed(ep, urb, USBH_URBSTATUS_OK);
+	_try_commit_p(host, FALSE);
+}
+
+static inline void _xfrc_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+	usbh_ep_t *const ep = hcm->ep;
+	usbh_urb_t *const urb = _active_urb(ep);
+	osalDbgCheck(urb);
+	uint32_t hctsiz = hc->HCTSIZ;
+
+	hc->HCINTMSK &= ~HCINTMSK_XFRCM;
+
+	switch (ep->type) {
+	case USBH_EPTYPE_CTRL:
+		if (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP) {
+			_complete_control_setup(host, hcm, ep, urb);
+		} else if (ep->in) {
+			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);
+		} else {
+			_complete_control(host, hcm, ep, urb, hctsiz);
+		}
+		break;
+
+	case USBH_EPTYPE_BULK:
+		if (ep->in) {
+			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);
+		} else {
+			_complete_bulk_int(host, hcm, ep, urb, hctsiz);
+		}
+		break;
+
+	case USBH_EPTYPE_INT:
+		if (ep->in && (hctsiz & HCTSIZ_PKTCNT_MASK)) {
+			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);
+		} else {
+			_complete_bulk_int(host, hcm, ep, urb, hctsiz);
+		}
+		break;
+
+	case USBH_EPTYPE_ISO:
+		if (ep->in && (hctsiz & HCTSIZ_PKTCNT_MASK)) {
+			_halt_channel(host, hcm, USBH_LLD_HALTREASON_XFRC);
+		} else {
+			_complete_iso(host, hcm, ep, urb, hctsiz);
+		}
+		break;
+	}
+}
+
+static inline void _chh_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_otg_host_chn_t *hc) {
+
+	usbh_ep_t *const ep = hcm->ep;
+	usbh_urb_t *const urb = _active_urb(ep);
+	osalDbgCheck(urb);
+	uint32_t hctsiz = hc->HCTSIZ;
+	usbh_lld_halt_reason_t reason = hcm->halt_reason;
+
+	//osalDbgCheck(reason != USBH_LLD_HALTREASON_NONE);
+	if (reason == USBH_LLD_HALTREASON_NONE) {
+		uwarnf("\tCHH: ch=%d, USBH_LLD_HALTREASON_NONE", hcm - host->channels);
+		return;
+	}
+
+	if (reason == USBH_LLD_HALTREASON_XFRC) {
+		osalDbgCheck(ep->in);
+		switch (ep->type) {
+		case USBH_EPTYPE_CTRL:
+			_complete_control(host, hcm, ep, urb, hctsiz);
+			break;
+		case USBH_EPTYPE_BULK:
+		case USBH_EPTYPE_INT:
+			_complete_bulk_int(host, hcm, ep, urb, hctsiz);
+			break;
+		case USBH_EPTYPE_ISO:
+			_complete_iso(host, hcm, ep, urb, hctsiz);
+			break;
+		}
+	} else {
+		_release_channel(host, hcm);
+		_save_dt_mask(ep, hctsiz);
+		bool done = _update_urb(ep, hctsiz, urb, FALSE);
+
+		switch (reason) {
+		case USBH_LLD_HALTREASON_NAK:
+			if ((ep->type == USBH_EPTYPE_INT) && ep->in) {
+				_transfer_completed(ep, urb, USBH_URBSTATUS_TIMEOUT);
+			} else {
+				ep->xfer.error_count = 0;
+				_move_to_pending_queue(ep);
+			}
+			break;
+
+		case USBH_LLD_HALTREASON_STALL:
+			if ((ep->type == USBH_EPTYPE_CTRL) && (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP)) {
+				uerrf("\t%s: Faulty device: STALLed SETUP phase", ep->name);
+			}
+			_transfer_completed(ep, urb, USBH_URBSTATUS_STALL);
+			break;
+
+		case USBH_LLD_HALTREASON_ERROR:
+			if ((ep->type == USBH_EPTYPE_ISO) || done || (ep->xfer.error_count >= 3)) {
+				_transfer_completed(ep, urb, USBH_URBSTATUS_ERROR);
+			} else {
+				uerrf("\t%s: err=%d, done=%d, retry", ep->name, ep->xfer.error_count, done);
+				_move_to_pending_queue(ep);
+			}
+			break;
+
+		case USBH_LLD_HALTREASON_ABORT:
+			uwarnf("\t%s: Abort", ep->name);
+			_transfer_completed(ep, urb, urb->status);
+			break;
+
+		default:
+			osalDbgCheck(0);
+			break;
+		}
+
+		if (usbhEPIsPeriodic(ep)) {
+			_try_commit_p(host, FALSE);
+		} else {
+			_try_commit_np(host);
+		}
+	}
+}
+
+static void _hcint_n_int(USBHDriver *host, uint8_t chn) {
+
+	stm32_hc_management_t *const hcm = &host->channels[chn];
+	stm32_otg_host_chn_t *const hc = hcm->hc;
+
+	uint32_t hcint = hc->HCINT;
+	hcint &= hc->HCINTMSK;
+	hc->HCINT = hcint;
+
+	osalDbgCheck((hcint & HCINTMSK_AHBERRM) == 0);
+	osalDbgCheck(hcm->ep);
+
+	if (hcint & HCINTMSK_STALLM)
+		_stall_int(host, hcm, hc);
+	if (hcint & HCINTMSK_NAKM)
+		_nak_int(host, hcm, hc);
+	if (hcint & HCINTMSK_ACKM)
+		_ack_int(host, hcm, hc);
+	if (hcint & HCINTMSK_TRERRM)
+		_trerr_int(host, hcm, hc);
+	if (hcint & HCINTMSK_BBERRM)
+		_bberr_int(host, hcm, hc);
+	if (hcint & HCINTMSK_FRMORM)
+		_frmor_int(host, hcm, hc);
+	if (hcint & HCINTMSK_DTERRM)
+		_dterr_int(host, hcm, hc);
+	if (hcint & HCINTMSK_XFRCM)
+		_xfrc_int(host, hcm, hc);
+	if (hcint & HCINTMSK_CHHM)
+		_chh_int(host, hcm, hc);
+}
+
+static inline void _hcint_int(USBHDriver *host) {
+	uint32_t haint;
+
+	haint = host->otg->HAINT;
+	haint &= host->otg->HAINTMSK;
+
+	if (!haint) {
+		uerrf("HAINT=%08x, HAINTMSK=%08x", host->otg->HAINT, host->otg->HAINTMSK);
+		return;
+	}
+
+#if 1	//channel lookup loop
+	uint8_t i;
+	for (i = 0; haint && (i < host->channels_number); i++) {
+		if (haint & (1 << i)) {
+			_hcint_n_int(host, i);
+			haint &= ~(1 << i);
+		}
+	}
+#else	//faster calculation, with __CLZ (count leading zeroes)
+	while (haint) {
+		uint8_t chn = (uint8_t)(31 - __CLZ(haint));
+		osalDbgAssert(chn < host->channels_number, "what?");
+		haint &= ~host->channels[chn].haintmsk;
+		_hcint_n_int(host, chn);
+	}
+#endif
+}
+
+
+/*===========================================================================*/
+/* Host interrupts.			   	                                     		 */
+/*===========================================================================*/
+static inline void _sof_int(USBHDriver *host) {
+	udbg("SOF");
+	_try_commit_p(host, TRUE);
+}
+
+static inline void _rxflvl_int(USBHDriver *host) {
+
+	stm32_otg_t *const otg = host->otg;
+
+	otg->GINTMSK &= ~GINTMSK_RXFLVLM;
+	while (otg->GINTSTS & GINTSTS_RXFLVL) {
+		uint32_t grxstsp = otg->GRXSTSP;
+		osalDbgCheck((grxstsp & GRXSTSP_CHNUM_MASK) < host->channels_number);
+		stm32_hc_management_t *const hcm = &host->channels[grxstsp & GRXSTSP_CHNUM_MASK];
+		uint32_t hctsiz = hcm->hc->HCTSIZ;
+
+		if ((grxstsp & GRXSTSP_PKTSTS_MASK) == GRXSTSP_PKTSTS(2)) {
+			/* 0010: IN data packet received */
+			usbh_ep_t *const ep = hcm->ep;
+			osalDbgCheck(ep);
+
+			/* restart the channel ASAP */
+			if (hctsiz & HCTSIZ_PKTCNT_MASK) {
+#if CH_DBG_ENABLE_CHECKS
+				if (usbhEPIsPeriodic(ep)) {
+					osalDbgCheck(host->otg->HPTXSTS & HPTXSTS_PTXQSAV_MASK);
+				} else {
+					osalDbgCheck(host->otg->HNPTXSTS & HPTXSTS_PTXQSAV_MASK);
+				}
+#endif
+				hcm->hc->HCCHAR |= HCCHAR_CHENA;
+			}
+
+			udbgf("\t%s: RXFLVL rx=%dB, rem=%dB (%dpkts)",
+					ep->name,
+					(grxstsp & GRXSTSP_BCNT_MASK) >> 4,
+					(hctsiz & HCTSIZ_XFRSIZ_MASK),
+					(hctsiz & HCTSIZ_PKTCNT_MASK) >> 19);
+
+			/* Read */
+			uint32_t *dest = (uint32_t *)ep->xfer.buf;
+			volatile uint32_t *const src = hcm->fifo;
+
+			uint32_t bcnt = (grxstsp & GRXSTSP_BCNT_MASK) >> GRXSTSP_BCNT_OFF;
+			osalDbgCheck(bcnt + ep->xfer.partial <= ep->xfer.len);
+
+			//TODO: optimize this
+			uint32_t words = bcnt / 4;
+			uint8_t bytes = bcnt & 3;
+			while (words--) {
+				*dest++ = *src;
+			}
+			if (bytes) {
+				uint32_t r = *src;
+				uint8_t *bsrc = (uint8_t *)&r;
+				uint8_t *bdest = (uint8_t *)dest;
+				do {
+					*bdest++ = *bsrc++;
+				} while (--bytes);
+			}
+
+			ep->xfer.buf += bcnt;
+			ep->xfer.partial += bcnt;
+
+#if 0 //STM32_USBH_CHANNELS_NP > 1
+			/* check bug */
+			if (hctsiz & HCTSIZ_PKTCNT_MASK) {
+				uint32_t pkt = (hctsiz & HCTSIZ_PKTCNT_MASK) >> 19;
+				uint32_t siz = (hctsiz & HCTSIZ_XFRSIZ_MASK);
+				if (pkt * ep->wMaxPacketSize != siz) {
+					uerrf("\t%s: whatttt???", ep->name);
+				}
+			}
+#endif
+
+#if USBH_DEBUG_ENABLE && USBH_LLD_DEBUG_ENABLE_ERRORS
+		} else {
+			/* 0011: IN transfer completed (triggers an interrupt)
+			 * 0101: Data toggle error (triggers an interrupt)
+			 * 0111: Channel halted (triggers an interrupt)
+			 */
+			switch (grxstsp & GRXSTSP_PKTSTS_MASK) {
+			case GRXSTSP_PKTSTS(3):
+			case GRXSTSP_PKTSTS(5):
+			case GRXSTSP_PKTSTS(7):
+				break;
+			default:
+				uerrf("\tRXFLVL: ch=%d, UNK=%d", grxstsp & GRXSTSP_CHNUM_MASK, (grxstsp & GRXSTSP_PKTSTS_MASK) >> 17);
+				break;
+			}
+#endif
+		}
+	}
+	otg->GINTMSK |= GINTMSK_RXFLVLM;
+}
+
+static inline void _nptxfe_int(USBHDriver *host) {
+	uint32_t rem;
+	stm32_otg_t *const otg = host->otg;
+
+	rem = _write_packet(&host->ep_active_lists[USBH_EPTYPE_CTRL],
+			otg->HNPTXSTS & HPTXSTS_PTXFSAVL_MASK);
+
+	rem += _write_packet(&host->ep_active_lists[USBH_EPTYPE_BULK],
+			otg->HNPTXSTS & HPTXSTS_PTXFSAVL_MASK);
+
+//	if (rem)
+//		otg->GINTMSK |= GINTMSK_NPTXFEM;
+
+	if (!rem)
+		otg->GINTMSK &= ~GINTMSK_NPTXFEM;
+
+}
+
+static inline void _ptxfe_int(USBHDriver *host) {
+	//TODO: implement
+	(void)host;
+	uinfo("PTXFE");
+}
+
+static inline void _discint_int(USBHDriver *host) {
+	uint32_t hprt = host->otg->HPRT;
+
+	uwarn("\tDISCINT");
+
+	if (!(hprt & HPRT_PCSTS)) {
+		host->rootport.lld_status &= ~(USBH_PORTSTATUS_CONNECTION | USBH_PORTSTATUS_ENABLE);
+		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_CONNECTION | USBH_PORTSTATUS_C_ENABLE;
+	}
+	_purge_active(host);
+	_purge_pending(host);
+}
+
+static inline void _hprtint_int(USBHDriver *host) {
+	stm32_otg_t *const otg = host->otg;
+	uint32_t hprt = otg->HPRT;
+
+	/* note: writing PENA = 1 actually disables the port */
+	uint32_t hprt_clr = hprt & ~(HPRT_PENA | HPRT_PCDET | HPRT_PENCHNG | HPRT_POCCHNG);
+
+	if (hprt & HPRT_PCDET) {
+		hprt_clr |= HPRT_PCDET;
+		if (hprt & HPRT_PCSTS) {
+			uinfo("\tHPRT: Port connection detected");
+			host->rootport.lld_status |= USBH_PORTSTATUS_CONNECTION;
+			host->rootport.lld_c_status |= USBH_PORTSTATUS_C_CONNECTION;
+		} else {
+			uinfo("\tHPRT: Port disconnection detected");
+		}
+	}
+
+	if (hprt & HPRT_PENCHNG) {
+		hprt_clr |= HPRT_PENCHNG;
+		if (hprt & HPRT_PENA) {
+			uinfo("\tHPRT: Port enabled");
+			host->rootport.lld_status |= USBH_PORTSTATUS_ENABLE;
+			host->rootport.lld_status &= ~(USBH_PORTSTATUS_HIGH_SPEED | USBH_PORTSTATUS_LOW_SPEED);
+
+			/* Make sure the FIFOs are flushed. */
+		    otg_txfifo_flush(host, 0x10);
+		    otg_rxfifo_flush(host);
+
+		    /* Clear all pending HC Interrupts */
+			uint8_t i;
+			for (i = 0; i < host->channels_number; i++) {
+				otg->hc[i].HCINTMSK = 0;
+				otg->hc[i].HCINT = 0xFFFFFFFF;
+			}
+
+			/* configure speed */
+			if ((hprt & HPRT_PSPD_MASK) == HPRT_PSPD_LS) {
+				host->rootport.lld_status |= USBH_PORTSTATUS_LOW_SPEED;
+				otg->HFIR = 6000;
+				otg->HCFG = (otg->HCFG & ~HCFG_FSLSPCS_MASK) | HCFG_FSLSPCS_6;
+			} else {
+				otg->HFIR = 48000;
+				otg->HCFG = (otg->HCFG & ~HCFG_FSLSPCS_MASK) | HCFG_FSLSPCS_48;
+			}
+		} else {
+			if (hprt & HPRT_PCSTS) {
+				if (hprt & HPRT_POCA) {
+					uerr("\tHPRT: Port disabled due to overcurrent");
+				} else {
+					uerr("\tHPRT: Port disabled due to port babble");
+				}
+			} else {
+				uerr("\tHPRT: Port disabled due to disconnect");
+			}
+
+			_purge_active(host);
+			_purge_pending(host);
+
+			host->rootport.lld_status &= ~USBH_PORTSTATUS_ENABLE;
+		}
+		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_ENABLE;
+	}
+
+	if (hprt & HPRT_POCCHNG) {
+		hprt_clr |= HPRT_POCCHNG;
+		if (hprt & HPRT_POCA) {
+			uerr("\tHPRT: Overcurrent");
+			host->rootport.lld_status |= USBH_PORTSTATUS_OVERCURRENT;
+		} else {
+			udbg("\tHPRT: Clear overcurrent");
+			host->rootport.lld_status &= ~USBH_PORTSTATUS_OVERCURRENT;
+		}
+		host->rootport.lld_c_status |= USBH_PORTSTATUS_C_OVERCURRENT;
+	}
+
+	otg->HPRT = hprt_clr;
+}
+
+static void usb_lld_serve_interrupt(USBHDriver *host) {
+	osalDbgCheck(host && (host->status != USBH_STATUS_STOPPED));
+
+	stm32_otg_t *const otg = host->otg;
+	uint32_t gintsts = otg->GINTSTS;
+
+	/* check host mode */
+	if (!(gintsts & GINTSTS_CMOD)) {
+		uerr("Device mode");
+		otg->GINTSTS = gintsts;
+		return;
+	}
+
+	/* check mismatch */
+	if (gintsts & GINTSTS_MMIS) {
+		uerr("Mode Mismatch");
+		otg->GINTSTS = gintsts;
+		return;
+	}
+
+	gintsts &= otg->GINTMSK;
+	if (!gintsts) {
+		uwarnf("GINTSTS=%08x, GINTMSK=%08x", otg->GINTSTS, otg->GINTMSK);
+		return;
+	}
+//	otg->GINTMSK &= ~(GINTMSK_NPTXFEM | GINTMSK_PTXFEM);
+	otg->GINTSTS = gintsts;
+
+	if (gintsts & GINTSTS_SOF)
+		_sof_int(host);
+	if (gintsts & GINTSTS_RXFLVL)
+		_rxflvl_int(host);
+	if (gintsts & GINTSTS_HPRTINT)
+		_hprtint_int(host);
+	if (gintsts & GINTSTS_DISCINT)
+		_discint_int(host);
+	if (gintsts & GINTSTS_HCINT)
+		_hcint_int(host);
+	if (gintsts & GINTSTS_NPTXFE)
+		_nptxfe_int(host);
+	if (gintsts & GINTSTS_PTXFE)
+		_ptxfe_int(host);
+	if (gintsts & GINTSTS_IPXFR) {
+		uerr("IPXFRM");
+	}
+}
+
+
+/*===========================================================================*/
+/* Interrupt handlers.   	    	                                 		 */
+/*===========================================================================*/
+
+#if STM32_USBH_USE_OTG1
+OSAL_IRQ_HANDLER(STM32_OTG1_HANDLER) {
+	OSAL_IRQ_PROLOGUE();
+	osalSysLockFromISR();
+	usb_lld_serve_interrupt(&USBHD1);
+	osalSysUnlockFromISR();
+	OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if STM32_USBH_USE_OTG2
+OSAL_IRQ_HANDLER(STM32_OTG2_HANDLER) {
+	OSAL_IRQ_PROLOGUE();
+	osalSysLockFromISR();
+	usb_lld_serve_interrupt(&USBHD2);
+	osalSysUnlockFromISR();
+	OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+
+/*===========================================================================*/
+/* Initialization functions.   	                                     		 */
+/*===========================================================================*/
+static void otg_core_reset(USBHDriver *usbp) {
+  stm32_otg_t *const otgp = usbp->otg;
+
+  /* Wait AHB idle condition.*/
+  while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
+	;
+
+  osalSysPolledDelayX(64);
+
+  /* Core reset and delay of at least 3 PHY cycles.*/
+  otgp->GRSTCTL = GRSTCTL_CSRST;
+  while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
+	;
+
+  osalSysPolledDelayX(24);
+
+  /* Wait AHB idle condition.*/
+  while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
+	;
+}
+
+static void otg_rxfifo_flush(USBHDriver *usbp) {
+  stm32_otg_t *const otgp = usbp->otg;
+
+  otgp->GRSTCTL = GRSTCTL_RXFFLSH;
+  while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)
+	;
+  /* Wait for 3 PHY Clocks.*/
+  osalSysPolledDelayX(24);
+}
+
+static void otg_txfifo_flush(USBHDriver *usbp, uint32_t fifo) {
+  stm32_otg_t *const otgp = usbp->otg;
+
+  otgp->GRSTCTL = GRSTCTL_TXFNUM(fifo) | GRSTCTL_TXFFLSH;
+  while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)
+	;
+  /* Wait for 3 PHY Clocks.*/
+  osalSysPolledDelayX(24);
+}
+
+static void _init(USBHDriver *host) {
+	int i;
+
+	usbhObjectInit(host);
+
+#if STM32_USBH_USE_OTG1
+#if STM32_USBH_USE_OTG2
+	if (&USBHD1 == host) {
+#endif
+		host->otg = OTG_FS;
+		host->channels_number = STM32_OTG1_CHANNELS_NUMBER;
+#if STM32_USBH_USE_OTG2
+	}
+#endif
+#endif
+
+#if STM32_USBH_USE_OTG2
+#if STM32_USBH_USE_OTG1
+	if (&USBHD2 == host) {
+#endif
+		host->otg = OTG_HS;
+		host->channels_number = STM32_OTG2_CHANNELS_NUMBER;
+#if STM32_USBH_USE_OTG1
+	}
+#endif
+#endif
+	INIT_LIST_HEAD(&host->ch_free[0]);
+	INIT_LIST_HEAD(&host->ch_free[1]);
+	for (i = 0; i < host->channels_number; i++) {
+		host->channels[i].haintmsk = 1 << i;
+		host->channels[i].hc = &host->otg->hc[i];
+		host->channels[i].fifo = host->otg->FIFO[i];
+		if (i < STM32_USBH_CHANNELS_NP) {
+			list_add_tail(&host->channels[i].node, &host->ch_free[1]);
+		} else {
+			list_add_tail(&host->channels[i].node, &host->ch_free[0]);
+		}
+	}
+	for (i = 0; i < 4; i++) {
+		INIT_LIST_HEAD(&host->ep_active_lists[i]);
+		INIT_LIST_HEAD(&host->ep_pending_lists[i]);
+	}
+}
+
+void usbh_lld_init(void) {
+#if STM32_USBH_USE_OTG1
+	_init(&USBHD1);
+#endif
+#if STM32_USBH_USE_OTG2
+	_init(&USBHD2);
+#endif
+}
+
+static void _usbh_start(USBHDriver *usbh) {
+	stm32_otg_t *const otgp = usbh->otg;
+
+	/* Clock activation.*/
+#if STM32_USBH_USE_OTG1
+#if STM32_USBH_USE_OTG2
+	if (&USBHD1 == usbh) {
+#endif
+		/* OTG FS clock enable and reset.*/
+		rccEnableOTG_FS(FALSE);
+		rccResetOTG_FS();
+
+		otgp->GINTMSK = 0;
+
+		/* Enables IRQ vector.*/
+		nvicEnableVector(STM32_OTG1_NUMBER, STM32_USB_OTG1_IRQ_PRIORITY);
+#if STM32_USBH_USE_OTG2
+	}
+#endif
+#endif
+
+#if STM32_USBH_USE_OTG2
+#if STM32_USBH_USE_OTG1
+	if (&USBHD2 == usbh) {
+#endif
+		/* OTG HS clock enable and reset.*/
+		rccEnableOTG_HS(FALSE);
+		rccResetOTG_HS();
+
+		otgp->GINTMSK = 0;
+
+		/* Enables IRQ vector.*/
+		nvicEnableVector(STM32_OTG2_NUMBER, STM32_USB_OTG2_IRQ_PRIORITY);
+#if STM32_USBH_USE_OTG1
+	}
+#endif
+#endif
+
+	otgp->GUSBCFG = GUSBCFG_PHYSEL | GUSBCFG_TRDT(5);
+
+	otg_core_reset(usbh);
+
+	otgp->GCCFG = GCCFG_PWRDWN;
+
+	/* Forced host mode. */
+	otgp->GUSBCFG = GUSBCFG_FHMOD | GUSBCFG_PHYSEL | GUSBCFG_TRDT(5);
+
+	/* PHY enabled.*/
+	otgp->PCGCCTL = 0;
+
+	/* Internal FS PHY activation.*/
+#if defined(BOARD_OTG_NOVBUSSENS)
+	otgp->GCCFG = GCCFG_NOVBUSSENS | GCCFG_PWRDWN;
+#else
+	otgp->GCCFG = GCCFG_PWRDWN;
+#endif
+
+	/* 48MHz 1.1 PHY.*/
+	otgp->HCFG = HCFG_FSLSS | HCFG_FSLSPCS_48;
+
+	/* Interrupts on FIFOs half empty.*/
+	otgp->GAHBCFG = 0;
+
+	otgp->GOTGINT = 0xFFFFFFFF;
+
+	otgp->HPRT |= HPRT_PPWR;
+
+	/* without this delay, the FIFO sizes are set INcorrectly */
+	osalThreadSleepS(MS2ST(200));
+
+#define HNPTXFSIZ						DIEPTXF0
+#if STM32_USBH_USE_OTG1
+#if STM32_USBH_USE_OTG2
+	if (&USBHD1 == usbh) {
+#endif
+		otgp->GRXFSIZ = GRXFSIZ_RXFD(STM32_OTG1_RXFIFO_SIZE / 4);
+		otgp->HNPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG1_RXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG1_NPTXFIFO_SIZE / 4);
+		otgp->HPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG1_RXFIFO_SIZE / 4) + (STM32_OTG1_NPTXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG1_PTXFIFO_SIZE / 4);
+#if STM32_USBH_USE_OTG2
+	}
+#endif
+#endif
+#if STM32_USBH_USE_OTG2
+#if STM32_USBH_USE_OTG1
+	if (&USBHD2 == usbh) {
+#endif
+		otgp->GRXFSIZ = GRXFSIZ_RXFD(STM32_OTG2_RXFIFO_SIZE / 4);
+		otgp->HNPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG2_RXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG2_NPTXFIFO_SIZE / 4);
+		otgp->HPTXFSIZ = HPTXFSIZ_PTXSA((STM32_OTG2_RXFIFO_SIZE / 4) + (STM32_OTG2_NPTXFIFO_SIZE / 4)) | HPTXFSIZ_PTXFD(STM32_OTG2_PTXFIFO_SIZE / 4);
+#if STM32_USBH_USE_OTG1
+	}
+#endif
+#endif
+
+	otg_txfifo_flush(usbh, 0x10);
+	otg_rxfifo_flush(usbh);
+
+	otgp->GINTSTS = 0xffffffff;
+	otgp->GINTMSK = GINTMSK_DISCM /*| GINTMSK_PTXFEM*/ | GINTMSK_HCM | GINTMSK_HPRTM
+					/*| GINTMSK_IPXFRM | GINTMSK_NPTXFEM*/ | GINTMSK_RXFLVLM
+					/*| GINTMSK_SOFM */ | GINTMSK_MMISM;
+
+	usbh->rootport.lld_status = USBH_PORTSTATUS_POWER;
+	usbh->rootport.lld_c_status = 0;
+
+	/* Global interrupts enable.*/
+	otgp->GAHBCFG |= GAHBCFG_GINTMSK;
+}
+
+void usbh_lld_start(USBHDriver *usbh) {
+	if (usbh->status != USBH_STATUS_STOPPED) return;
+	_usbh_start(usbh);
+}
+
+/*===========================================================================*/
+/* Root Hub request handler.   	                                     		 */
+/*===========================================================================*/
+usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestType, uint8_t bRequest,
+		uint16_t wvalue, uint16_t windex, uint16_t wlength, uint8_t *buf) {
+
+	uint16_t typereq = (bmRequestType << 8) | bRequest;
+
+	switch (typereq) {
+	case ClearHubFeature:
+		switch (wvalue) {
+		case USBH_HUB_FEAT_C_HUB_LOCAL_POWER:
+		case USBH_HUB_FEAT_C_HUB_OVER_CURRENT:
+			break;
+		default:
+			osalDbgAssert(0, "invalid wvalue");
+		}
+		break;
+
+	case ClearPortFeature:
+		chDbgAssert(windex == 1, "invalid windex");
+
+		osalSysLock();
+		switch (wvalue) {
+		case USBH_PORT_FEAT_ENABLE:
+		case USBH_PORT_FEAT_SUSPEND:
+		case USBH_PORT_FEAT_POWER:
+			chDbgAssert(0, "unimplemented");	/* TODO */
+			break;
+
+		case USBH_PORT_FEAT_INDICATOR:
+			chDbgAssert(0, "unsupported");
+			break;
+
+		case USBH_PORT_FEAT_C_CONNECTION:
+			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_CONNECTION;
+			break;
+
+		case USBH_PORT_FEAT_C_RESET:
+			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_RESET;
+			break;
+
+		case USBH_PORT_FEAT_C_ENABLE:
+			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_ENABLE;
+			break;
+
+		case USBH_PORT_FEAT_C_SUSPEND:
+			usbh->rootport.lld_c_status &= ~USBH_PORTSTATUS_C_SUSPEND;
+			break;
+
+		case USBH_PORT_FEAT_C_OVERCURRENT:
+			usbh->rootport.lld_c_status &= USBH_PORTSTATUS_C_OVERCURRENT;
+			break;
+
+		default:
+			osalDbgAssert(0, "invalid wvalue");
+			break;
+		}
+		osalOsRescheduleS();
+		osalSysUnlock();
+		break;
+
+	case GetHubDescriptor:
+		/*dev_dbg(hsotg->dev, "GetHubDescriptor\n");
+		hub_desc = (struct usb_hub_descriptor *)buf;
+		hub_desc->bDescLength = 9;
+		hub_desc->bDescriptorType = USB_DT_HUB;
+		hub_desc->bNbrPorts = 1;
+		hub_desc->wHubCharacteristics =
+			cpu_to_le16(HUB_CHAR_COMMON_LPSM |
+					HUB_CHAR_INDV_PORT_OCPM);
+		hub_desc->bPwrOn2PwrGood = 1;
+		hub_desc->bHubContrCurrent = 0;
+		hub_desc->u.hs.DeviceRemovable[0] = 0;
+		hub_desc->u.hs.DeviceRemovable[1] = 0xff;*/
+		break;
+
+	case GetHubStatus:
+		osalDbgCheck(wlength >= 4);
+		*(uint32_t *)buf = 0;
+		break;
+
+	case GetPortStatus:
+		chDbgAssert(windex == 1, "invalid windex");
+		osalDbgCheck(wlength >= 4);
+		osalSysLock();
+		*(uint32_t *)buf = usbh->rootport.lld_status | (usbh->rootport.lld_c_status << 16);
+		osalOsRescheduleS();
+		osalSysUnlock();
+		break;
+
+	case SetHubFeature:
+		chDbgAssert(0, "unsupported");
+		break;
+
+	case SetPortFeature:
+		chDbgAssert(windex == 1, "invalid windex");
+
+		switch (wvalue) {
+		case USBH_PORT_FEAT_TEST:
+		case USBH_PORT_FEAT_SUSPEND:
+		case USBH_PORT_FEAT_POWER:
+			chDbgAssert(0, "unimplemented");	/* TODO */
+			break;
+
+		case USBH_PORT_FEAT_RESET: {
+			osalSysLock();
+			stm32_otg_t *const otg = usbh->otg;
+			uint32_t hprt;
+			otg->PCGCCTL = 0;
+			hprt = otg->HPRT;
+			/* note: writing PENA = 1 actually disables the port */
+			hprt &= ~(HPRT_PSUSP | HPRT_PENA | HPRT_PCDET | HPRT_PENCHNG | HPRT_POCCHNG );
+			otg->HPRT = hprt | HPRT_PRST;
+			osalThreadSleepS(MS2ST(60));
+			otg->HPRT = hprt;
+			usbh->rootport.lld_c_status |= USBH_PORTSTATUS_C_RESET;
+			osalOsRescheduleS();
+			osalSysUnlock();
+		} 	break;
+
+		case USBH_PORT_FEAT_INDICATOR:
+			chDbgAssert(0, "unsupported");
+			break;
+
+		default:
+			osalDbgAssert(0, "invalid wvalue");
+			break;
+		}
+		break;
+
+	default:
+		osalDbgAssert(0, "invalid typereq");
+		break;
+	}
+
+	return USBH_URBSTATUS_OK;
+}
+
+uint8_t usbh_lld_roothub_get_statuschange_bitmap(USBHDriver *usbh) {
+	osalSysLock();
+	if (usbh->rootport.lld_c_status) {
+		osalOsRescheduleS();
+		osalSysUnlock();
+		return 1 << 1;
+	}
+	osalOsRescheduleS();
+	osalSysUnlock();
+	return 0;
+}
+
+
+#endif
diff --git a/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.h b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h
index e8da2ac..e8df749 100644
--- a/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.h
+++ b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h
@@ -1,153 +1,153 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#ifndef USBH_LLD_H_

-#define USBH_LLD_H_

-

-#include "hal.h"

-

-#if HAL_USE_USBH

-

-#include "osal.h"

-#include "stm32_otg.h"

-

-/* TODO:

- *

- * - Implement ISO/INT OUT and test

- * - Consider DMA mode for OTG_HS, consider external PHY for HS.

- * - Implement a data pump thread, so we don't have to copy data from the ISR

- * 		This might be a bad idea for small endpoint packet sizes (the context switch

- * 		could be longer than the copy)

- */

-

-typedef enum {

-	USBH_LLD_CTRLPHASE_SETUP,

-	USBH_LLD_CTRLPHASE_DATA,

-	USBH_LLD_CTRLPHASE_STATUS

-} usbh_lld_ctrlphase_t;

-

-typedef enum {

-	USBH_LLD_HALTREASON_NONE,

-	USBH_LLD_HALTREASON_XFRC,

-	USBH_LLD_HALTREASON_NAK,

-	USBH_LLD_HALTREASON_STALL,

-	USBH_LLD_HALTREASON_ERROR,

-	USBH_LLD_HALTREASON_ABORT

-} usbh_lld_halt_reason_t;

-

-

-typedef struct stm32_hc_management {

-	struct list_head node;

-

-	stm32_otg_host_chn_t *hc;

-	volatile uint32_t	*fifo;

-	usbh_ep_t 			*ep;

-	uint16_t			haintmsk;

-	usbh_lld_halt_reason_t halt_reason;

-} stm32_hc_management_t;

-

-

-#define _usbhdriver_ll_data											\

-	stm32_otg_t *otg;												\

-	/* channels */													\

-	uint8_t channels_number;										\

-	stm32_hc_management_t channels[STM32_OTG2_CHANNELS_NUMBER];		\

-	struct list_head ch_free[2];									\

-	/* Enpoints being processed */									\

-	struct list_head ep_active_lists[4];							\

-	/* Pending endpoints */											\

-	struct list_head ep_pending_lists[4];

-

-

-#define _usbh_ep_ll_data																\

-		struct list_head	*active_list;		/* shortcut to ep list */				\

-		struct list_head	*pending_list;		/* shortcut to ep list */				\

-		struct list_head	urb_list;			/* list of URBs queued in this EP */	\

-		struct list_head	node;				/* this EP */							\

-		uint32_t 			hcintmsk;													\

-		uint32_t			hcchar;														\

-		uint32_t 			dt_mask;			/* data-toggle mask */					\

-		/* current transfer */															\

-		struct {																		\

-			stm32_hc_management_t *hcm;				/* assigned channel */				\

-			uint32_t			len;				/* this transfer's total length */	\

-			uint8_t				*buf;				/* this transfer's buffer */		\

-			uint32_t			partial;			/* this transfer's partial length */\

-			uint16_t			packets;			/* packets allocated */				\

-			union {																		\

-				uint32_t			frame_counter;		/* frame counter (for INT) */	\

-				usbh_lld_ctrlphase_t	ctrl_phase;		/* control phase (for CTRL) */	\

-			} u;																		\

-			uint8_t				error_count;		/* error count */					\

-		} xfer;

-

-

-

-

-

-#define _usbh_port_ll_data		\

-	uint16_t lld_c_status;		\

-	uint16_t lld_status;

-

-#define _usbh_device_ll_data

-

-#define _usbh_hub_ll_data

-

-#define _usbh_urb_ll_data		\

-	struct list_head node;		\

-	bool queued;

-

-

-#define usbh_lld_urb_object_init(urb) 									\

-		do {															\

-			osalDbgAssert(((uint32_t)urb->buff & 3) == 0, 				\

-				"use USBH_DEFINE_BUFFER() to declare the IO buffers"); 	\

-				urb->queued = FALSE;									\

-		} while (0)

-

-

-#define usbh_lld_urb_object_reset(urb) 									\

-		do {															\

-			osalDbgAssert(urb->queued == FALSE, "wrong state");			\

-			osalDbgAssert(((uint32_t)urb->buff & 3) == 0, 				\

-				"use USBH_DEFINE_BUFFER() to declare the IO buffers"); 	\

-		} while (0)

-

-

-

-void usbh_lld_init(void);

-void usbh_lld_start(USBHDriver *usbh);

-void usbh_lld_ep_object_init(usbh_ep_t *ep);

-void usbh_lld_ep_open(usbh_ep_t *ep);

-void usbh_lld_ep_close(usbh_ep_t *ep);

-void usbh_lld_urb_submit(usbh_urb_t *urb);

-bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status);

-usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestType, uint8_t bRequest,

-		uint16_t wvalue, uint16_t windex, uint16_t wlength, uint8_t *buf);

-uint8_t usbh_lld_roothub_get_statuschange_bitmap(USBHDriver *usbh);

-

-#define usbh_lld_epreset(ep) do {(ep)->dt_mask = HCTSIZ_DPID_DATA0;} while (0);

-

-#ifdef __IAR_SYSTEMS_ICC__

-#define USBH_LLD_DEFINE_BUFFER(type, name) type name

-#else

-#define USBH_LLD_DEFINE_BUFFER(type, name) type name __attribute__((aligned(4)))

-#endif

-

-#endif

-

-#endif /* USBH_LLD_H_ */

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef USBH_LLD_H_
+#define USBH_LLD_H_
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+
+#include "osal.h"
+#include "stm32_otg.h"
+
+/* TODO:
+ *
+ * - Implement ISO/INT OUT and test
+ * - Consider DMA mode for OTG_HS, consider external PHY for HS.
+ * - Implement a data pump thread, so we don't have to copy data from the ISR
+ * 		This might be a bad idea for small endpoint packet sizes (the context switch
+ * 		could be longer than the copy)
+ */
+
+typedef enum {
+	USBH_LLD_CTRLPHASE_SETUP,
+	USBH_LLD_CTRLPHASE_DATA,
+	USBH_LLD_CTRLPHASE_STATUS
+} usbh_lld_ctrlphase_t;
+
+typedef enum {
+	USBH_LLD_HALTREASON_NONE,
+	USBH_LLD_HALTREASON_XFRC,
+	USBH_LLD_HALTREASON_NAK,
+	USBH_LLD_HALTREASON_STALL,
+	USBH_LLD_HALTREASON_ERROR,
+	USBH_LLD_HALTREASON_ABORT
+} usbh_lld_halt_reason_t;
+
+
+typedef struct stm32_hc_management {
+	struct list_head node;
+
+	stm32_otg_host_chn_t *hc;
+	volatile uint32_t	*fifo;
+	usbh_ep_t 			*ep;
+	uint16_t			haintmsk;
+	usbh_lld_halt_reason_t halt_reason;
+} stm32_hc_management_t;
+
+
+#define _usbhdriver_ll_data											\
+	stm32_otg_t *otg;												\
+	/* channels */													\
+	uint8_t channels_number;										\
+	stm32_hc_management_t channels[STM32_OTG2_CHANNELS_NUMBER];		\
+	struct list_head ch_free[2];									\
+	/* Enpoints being processed */									\
+	struct list_head ep_active_lists[4];							\
+	/* Pending endpoints */											\
+	struct list_head ep_pending_lists[4];
+
+
+#define _usbh_ep_ll_data																\
+		struct list_head	*active_list;		/* shortcut to ep list */				\
+		struct list_head	*pending_list;		/* shortcut to ep list */				\
+		struct list_head	urb_list;			/* list of URBs queued in this EP */	\
+		struct list_head	node;				/* this EP */							\
+		uint32_t 			hcintmsk;													\
+		uint32_t			hcchar;														\
+		uint32_t 			dt_mask;			/* data-toggle mask */					\
+		/* current transfer */															\
+		struct {																		\
+			stm32_hc_management_t *hcm;				/* assigned channel */				\
+			uint32_t			len;				/* this transfer's total length */	\
+			uint8_t				*buf;				/* this transfer's buffer */		\
+			uint32_t			partial;			/* this transfer's partial length */\
+			uint16_t			packets;			/* packets allocated */				\
+			union {																		\
+				uint32_t			frame_counter;		/* frame counter (for INT) */	\
+				usbh_lld_ctrlphase_t	ctrl_phase;		/* control phase (for CTRL) */	\
+			} u;																		\
+			uint8_t				error_count;		/* error count */					\
+		} xfer;
+
+
+
+
+
+#define _usbh_port_ll_data		\
+	uint16_t lld_c_status;		\
+	uint16_t lld_status;
+
+#define _usbh_device_ll_data
+
+#define _usbh_hub_ll_data
+
+#define _usbh_urb_ll_data		\
+	struct list_head node;		\
+	bool queued;
+
+
+#define usbh_lld_urb_object_init(urb) 									\
+		do {															\
+			osalDbgAssert(((uint32_t)urb->buff & 3) == 0, 				\
+				"use USBH_DEFINE_BUFFER() to declare the IO buffers"); 	\
+				urb->queued = FALSE;									\
+		} while (0)
+
+
+#define usbh_lld_urb_object_reset(urb) 									\
+		do {															\
+			osalDbgAssert(urb->queued == FALSE, "wrong state");			\
+			osalDbgAssert(((uint32_t)urb->buff & 3) == 0, 				\
+				"use USBH_DEFINE_BUFFER() to declare the IO buffers"); 	\
+		} while (0)
+
+
+
+void usbh_lld_init(void);
+void usbh_lld_start(USBHDriver *usbh);
+void usbh_lld_ep_object_init(usbh_ep_t *ep);
+void usbh_lld_ep_open(usbh_ep_t *ep);
+void usbh_lld_ep_close(usbh_ep_t *ep);
+void usbh_lld_urb_submit(usbh_urb_t *urb);
+bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status);
+usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestType, uint8_t bRequest,
+		uint16_t wvalue, uint16_t windex, uint16_t wlength, uint8_t *buf);
+uint8_t usbh_lld_roothub_get_statuschange_bitmap(USBHDriver *usbh);
+
+#define usbh_lld_epreset(ep) do {(ep)->dt_mask = HCTSIZ_DPID_DATA0;} while (0);
+
+#ifdef __IAR_SYSTEMS_ICC__
+#define USBH_LLD_DEFINE_BUFFER(type, name) type name
+#else
+#define USBH_LLD_DEFINE_BUFFER(type, name) type name __attribute__((aligned(4)))
+#endif
+
+#endif
+
+#endif /* USBH_LLD_H_ */
diff --git a/os/hal/ports/STM32/STM32F0xx/platform.mk b/os/hal/ports/STM32/STM32F0xx/platform.mk
index 1dff83a..c796984 100644
--- a/os/hal/ports/STM32/STM32F0xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F0xx/platform.mk
@@ -1,7 +1,7 @@
 include ${CHIBIOS}/os/hal/ports/STM32/STM32F0xx/platform.mk
 
-PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c \
-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c \
+PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c \
 
 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \
diff --git a/os/hal/ports/STM32/STM32F3xx/platform.mk b/os/hal/ports/STM32/STM32F3xx/platform.mk
index e98de86..baa7578 100644
--- a/os/hal/ports/STM32/STM32F3xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F3xx/platform.mk
@@ -1,8 +1,8 @@
 include ${CHIBIOS}/os/hal/ports/STM32/STM32F3xx/platform.mk
 
-PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c \
-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c \
-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c
+PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c
 
 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \
diff --git a/os/hal/ports/STM32/STM32F4xx/platform.mk b/os/hal/ports/STM32/STM32F4xx/platform.mk
index 5ffc9dd..b78df83 100644
--- a/os/hal/ports/STM32/STM32F4xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F4xx/platform.mk
@@ -1,15 +1,15 @@
 include ${CHIBIOS}/os/hal/ports/STM32/STM32F4xx/platform.mk

 

-PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/fsmc.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/nand_lld.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c \

-	           ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.c \

-               ${CHIBIOS_CONTRIB}/os/hal/src/fsmc_sdram.c \

-               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c

+PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/DMA2Dv1/hal_stm32_dma2d.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/hal_nand_lld.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/hal_fsmc_sram.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/LTDCv1/hal_stm32_ltdc.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c \

+	           ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c \

+               ${CHIBIOS_CONTRIB}/os/hal/src/hal_fsmc_sdram.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c

 

 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/DMA2Dv1 \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1 \

diff --git a/os/hal/src/crc.c b/os/hal/src/hal_crc.c
index 63799e4..63799e4 100644
--- a/os/hal/src/crc.c
+++ b/os/hal/src/hal_crc.c
diff --git a/os/hal/src/ee24xx.c b/os/hal/src/hal_ee24xx.c
index c89635f..632ffbb 100644
--- a/os/hal/src/ee24xx.c
+++ b/os/hal/src/hal_ee24xx.c
@@ -42,7 +42,7 @@ Note:
   being written to the next page as might be expected.
 *********************************************************************/
 
-#include "ee24xx.h"
+#include "hal_ee24xx.h"
 #include <string.h>
 
 #if (defined(HAL_USE_EEPROM) && HAL_USE_EEPROM && EEPROM_USE_EE24XX) || defined(__DOXYGEN__)
diff --git a/os/hal/src/ee25xx.c b/os/hal/src/hal_ee25xx.c
index 07f4373..102aef8 100644
--- a/os/hal/src/ee25xx.c
+++ b/os/hal/src/hal_ee25xx.c
@@ -42,7 +42,7 @@ Note:
   being written to the next page as might be expected.
 *********************************************************************/
 
-#include "ee25xx.h"
+#include "hal_ee25xx.h"
 #include <string.h>
 
 #if (defined(HAL_USE_EEPROM) && HAL_USE_EEPROM && EEPROM_USE_EE25XX) || defined(__DOXYGEN__)
diff --git a/os/hal/src/eeprom.c b/os/hal/src/hal_eeprom.c
index 60d90ed..f77d616 100644
--- a/os/hal/src/eeprom.c
+++ b/os/hal/src/hal_eeprom.c
@@ -26,7 +26,7 @@
   The work is provided "as is" without warranty of any kind, neither express nor implied.
 */
 
-#include "eeprom.h"
+#include "hal_eeprom.h"
 #include <string.h>
 
 #if defined(HAL_USE_EEPROM) && HAL_USE_EEPROM
diff --git a/os/hal/src/eicu.c b/os/hal/src/hal_eicu.c
index f75c58b..f75c58b 100644
--- a/os/hal/src/eicu.c
+++ b/os/hal/src/hal_eicu.c
diff --git a/os/hal/src/nand.c b/os/hal/src/hal_nand.c
index 24dd6de..24dd6de 100644
--- a/os/hal/src/nand.c
+++ b/os/hal/src/hal_nand.c
diff --git a/os/hal/src/onewire.c b/os/hal/src/hal_onewire.c
index 85f0fdc..85f0fdc 100644
--- a/os/hal/src/onewire.c
+++ b/os/hal/src/hal_onewire.c
diff --git a/os/hal/src/rng.c b/os/hal/src/hal_rng.c
index 5ff6d2d..5ff6d2d 100644
--- a/os/hal/src/rng.c
+++ b/os/hal/src/hal_rng.c
diff --git a/os/hal/src/timcap.c b/os/hal/src/hal_timcap.c
index 6ee97ad..a352490 100644
--- a/os/hal/src/timcap.c
+++ b/os/hal/src/hal_timcap.c
@@ -26,7 +26,7 @@
  * @{
  */
 
-#include "timcap.h"
+#include "hal_timcap.h"
 
 #if HAL_USE_TIMCAP || defined(__DOXYGEN__)
 
diff --git a/os/hal/src/usbh.c b/os/hal/src/hal_usbh.c
index 3bdbac3..1caa183 100644
--- a/os/hal/src/usbh.c
+++ b/os/hal/src/hal_usbh.c
@@ -1,1395 +1,1395 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-

-#if HAL_USE_USBH

-

-#include "usbh/dev/hub.h"

-#include "usbh/internal.h"

-#include <string.h>

-

-#if USBH_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBH_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBH_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBH_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-#if STM32_USBH_USE_OTG1

-USBHDriver USBHD1;

-#endif

-#if STM32_USBH_USE_OTG2

-USBHDriver USBHD2;

-#endif

-

-

-static void _classdriver_process_device(usbh_device_t *dev);

-static bool _classdriver_load(usbh_device_t *dev, uint8_t class,

-		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem);

-

-

-/*===========================================================================*/

-/* Checks.								                                     */

-/*===========================================================================*/

-

-static inline void _check_dev(usbh_device_t *dev) {

-	osalDbgCheck(dev);

-	//TODO: add more checks.

-}

-

-static inline void _check_ep(usbh_ep_t *ep) {

-	osalDbgCheck(ep != 0);

-	_check_dev(ep->device);

-	osalDbgCheck(ep->type <= 3);

-	//TODO: add more checks.

-}

-

-static inline void _check_urb(usbh_urb_t *urb) {

-	osalDbgCheck(urb != 0);

-	_check_ep(urb->ep);

-	osalDbgCheck((urb->buff != NULL) || (urb->requestedLength == 0));

-	//TODO: add more checks.

-}

-

-/*===========================================================================*/

-/* Main driver API.						                                     */

-/*===========================================================================*/

-

-void usbhObjectInit(USBHDriver *usbh) {

-	memset(usbh, 0, sizeof(*usbh));

-	usbh->status = USBH_STATUS_STOPPED;

-#if HAL_USBH_USE_HUB

-	INIT_LIST_HEAD(&usbh->hubs);

-	_usbhub_port_object_init(&usbh->rootport, usbh, 0, 1);

-#else

-	_usbhub_port_object_init(&usbh->rootport, usbh, 1);

-#endif

-}

-

-void usbhInit(void) {

-#if HAL_USBH_USE_HUB

-	uint8_t i;

-	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {

-		usbhhubObjectInit(&USBHHUBD[i]);

-	}

-#endif

-	usbh_lld_init();

-}

-

-void usbhStart(USBHDriver *usbh) {

-	usbDbgInit(usbh);

-

-	osalSysLock();

-	osalDbgAssert((usbh->status == USBH_STATUS_STOPPED) || (usbh->status == USBH_STATUS_STARTED),

-				"invalid state");

-	usbh_lld_start(usbh);

-	usbh->status = USBH_STATUS_STARTED;

-	osalOsRescheduleS();

-	osalSysUnlock();

-}

-

-

-void usbhStop(USBHDriver *usbh) {

-	//TODO: implement

-	(void)usbh;

-}

-void usbhSuspend(USBHDriver *usbh) {

-	//TODO: implement

-	(void)usbh;

-}

-void usbhResume(USBHDriver *usbh) {

-	//TODO: implement

-	(void)usbh;

-}

-

-/*===========================================================================*/

-/* Endpoint API.						                                     */

-/*===========================================================================*/

-

-void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc) {

-	osalDbgCheck(ep);

-	_check_dev(dev);

-	osalDbgCheck(desc);

-

-	memset(ep, 0, sizeof(*ep));

-	ep->device = dev;

-	ep->wMaxPacketSize = desc->wMaxPacketSize;

-	ep->address = desc->bEndpointAddress & 0x0F;

-	ep->type = (usbh_eptype_t) (desc->bmAttributes & 0x03);

-	if (ep->type != USBH_EPTYPE_CTRL) {

-		ep->in = (desc->bEndpointAddress & 0x80) ? TRUE : FALSE;

-	}

-	ep->bInterval = desc->bInterval;

-

-	/* low-level part */

-	usbh_lld_ep_object_init(ep);

-

-	ep->status = USBH_EPSTATUS_CLOSED;

-}

-

-

-static void _ep0_object_init(usbh_device_t *dev, uint16_t wMaxPacketSize) {

-	const usbh_endpoint_descriptor_t ep0_descriptor = {

-		7,	//bLength

-		5,	//bDescriptorType

-		0,	//bEndpointAddress

-		0,	//bmAttributes

-		wMaxPacketSize,

-		0,	//bInterval

-	};

-	usbhEPObjectInit(&dev->ctrl, dev, &ep0_descriptor);

-	usbhEPSetName(&dev->ctrl, "DEV[CTRL]");

-}

-

-

-/*===========================================================================*/

-/* URB API.				    	                                     		 */

-/*===========================================================================*/

-

-void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,

-		void *user, void *buff, uint32_t len) {

-

-	osalDbgCheck(urb != 0);

-	_check_ep(ep);

-

-	/* initialize the common part: */

-	urb->ep = ep;

-	urb->callback = callback;

-	urb->userData = user;

-	urb->buff = buff;

-	urb->requestedLength = len;

-	urb->actualLength = 0;

-	urb->status = USBH_URBSTATUS_INITIALIZED;

-	urb->waitingThread = 0;

-	urb->abortingThread = 0;

-

-	/* initialize the ll part: */

-	usbh_lld_urb_object_init(urb);

-}

-

-void usbhURBObjectResetI(usbh_urb_t *urb) {

-	osalDbgAssert(!usbhURBIsBusy(urb), "invalid status");

-

-	osalDbgCheck((urb->waitingThread == 0) && (urb->abortingThread == 0));

-

-	urb->actualLength = 0;

-	urb->status = USBH_URBSTATUS_INITIALIZED;

-

-	/* reset the ll part: */

-	usbh_lld_urb_object_reset(urb);

-}

-

-void usbhURBSubmitI(usbh_urb_t *urb) {

-	osalDbgCheckClassI();

-	_check_urb(urb);

-	osalDbgAssert(urb->status == USBH_URBSTATUS_INITIALIZED, "invalid status");

-	usbh_ep_t *const ep = urb->ep;

-	if (ep->status == USBH_EPSTATUS_HALTED) {

-		_usbh_urb_completeI(urb, USBH_URBSTATUS_STALL);

-		return;

-	}

-	if (ep->status != USBH_EPSTATUS_OPEN) {

-		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);

-		return;

-	}

-	if (!(usbhDeviceGetPort(ep->device)->status & USBH_PORTSTATUS_ENABLE)) {

-		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);

-		return;

-	}

-	urb->status = USBH_URBSTATUS_PENDING;

-	usbh_lld_urb_submit(urb);

-}

-

-bool _usbh_urb_abortI(usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalDbgCheckClassI();

-	_check_urb(urb);

-

-	switch (urb->status) {

-/*	case USBH_URBSTATUS_UNINITIALIZED:

- * 	case USBH_URBSTATUS_INITIALIZED:

- *	case USBH_URBSTATUS_ERROR:

- *	case USBH_URBSTATUS_TIMEOUT:

- *	case USBH_URBSTATUS_CANCELLED:

- *	case USBH_URBSTATUS_STALL:

- *	case USBH_URBSTATUS_DISCONNECTED:

- *	case USBH_URBSTATUS_OK: */

-	default:

-		/* already finished */

-		_usbh_urb_completeI(urb, status);

-		return TRUE;

-

-//	case USBH_URBSTATUS_QUEUED:

-	case USBH_URBSTATUS_PENDING:

-		return usbh_lld_urb_abort(urb, status);

-	}

-}

-

-void _usbh_urb_abort_and_waitS(usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalDbgCheckClassS();

-	_check_urb(urb);

-

-	if (_usbh_urb_abortI(urb, status) == FALSE) {

-		uwarn("URB wasn't aborted immediately, suspend");

-		osalThreadSuspendS(&urb->abortingThread);

-		urb->abortingThread = 0;

-	} else {

-		osalOsRescheduleS();

-	}

-	uwarn("URB aborted");

-}

-

-bool usbhURBCancelI(usbh_urb_t *urb) {

-	return _usbh_urb_abortI(urb, USBH_URBSTATUS_CANCELLED);

-}

-

-void usbhURBCancelAndWaitS(usbh_urb_t *urb) {

-	_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_CANCELLED);

-}

-

-msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout) {

-	msg_t ret;

-

-	osalDbgCheckClassS();

-	_check_urb(urb);

-

-	switch (urb->status) {

-	case USBH_URBSTATUS_INITIALIZED:

-	case USBH_URBSTATUS_PENDING:

-//	case USBH_URBSTATUS_QUEUED:

-		ret = osalThreadSuspendTimeoutS(&urb->waitingThread, timeout);

-		urb->waitingThread = 0;

-		break;

-

-	case USBH_URBSTATUS_OK:

-		ret = MSG_OK;

-		osalOsRescheduleS();

-		break;

-

-/*	case USBH_URBSTATUS_UNINITIALIZED:

- *	case USBH_URBSTATUS_ERROR:

- *	case USBH_URBSTATUS_TIMEOUT:

- *	case USBH_URBSTATUS_CANCELLED:

- *	case USBH_URBSTATUS_STALL:

- *	case USBH_URBSTATUS_DISCONNECTED: */

-	default:

-		ret = MSG_RESET;

-		osalOsRescheduleS();

-		break;

-	}

-	return ret;

-}

-

-msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout) {

-	msg_t ret;

-

-	osalDbgCheckClassS();

-	_check_urb(urb);

-

-	usbhURBSubmitI(urb);

-	ret = usbhURBWaitTimeoutS(urb, timeout);

-	if (ret == MSG_TIMEOUT)

-		_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_TIMEOUT);

-

-	return ret;

-}

-

-static inline msg_t _wakeup_message(usbh_urbstatus_t status) {

-	if (status == USBH_URBSTATUS_OK) return MSG_OK;

-	if (status == USBH_URBSTATUS_TIMEOUT) return MSG_TIMEOUT;

-	return MSG_RESET;

-}

-

-void _usbh_urb_completeI(usbh_urb_t *urb, usbh_urbstatus_t status) {

-	osalDbgCheckClassI();

-	_check_urb(urb);

-	urb->status = status;

-	osalThreadResumeI(&urb->waitingThread, _wakeup_message(status));

-	osalThreadResumeI(&urb->abortingThread, MSG_RESET);

-	if (urb->callback)

-		urb->callback(urb);

-}

-

-/*===========================================================================*/

-/* Synchronous API.		    	                                     		 */

-/*===========================================================================*/

-

-usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,

-		void *data,

-		uint32_t len,

-		uint32_t *actual_len,

-		systime_t timeout) {

-

-	osalDbgCheck(ep != NULL);

-	osalDbgCheck((data != NULL) || (len == 0));

-	osalDbgAssert(ep->type == USBH_EPTYPE_BULK, "wrong ep");

-

-	usbh_urb_t urb;

-	usbhURBObjectInit(&urb, ep, 0, 0, data, len);

-

-	osalSysLock();

-	usbhURBSubmitAndWaitS(&urb, timeout);

-	osalSysUnlock();

-

-	if (actual_len != NULL)

-		*actual_len = urb.actualLength;

-

-	return urb.status;

-}

-

-usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,

-		const usbh_control_request_t *req,

-		uint8_t *buff,

-		uint32_t *actual_len,

-		systime_t timeout) {

-

-	_check_dev(dev);

-	osalDbgCheck(req != NULL);

-

-	usbh_urb_t urb;

-

-	usbhURBObjectInit(&urb, &dev->ctrl, 0, 0, buff, req->wLength);

-	urb.setup_buff = req;

-

-	osalSysLock();

-	usbhURBSubmitAndWaitS(&urb, timeout);

-	osalSysUnlock();

-

-	if (actual_len != NULL)

-		*actual_len = urb.actualLength;

-

-	return urb.status;

-}

-

-usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,

-		uint8_t bmRequestType,

-		uint8_t bRequest,

-		uint16_t wValue,

-		uint16_t wIndex,

-		uint16_t wLength,

-		uint8_t *buff) {

-

-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {

-			bmRequestType,

-			bRequest,

-			wValue,

-			wIndex,

-			wLength

-	};

-	return usbhControlRequestExtended(dev, &req, buff, NULL, MS2ST(1000));

-}

-

-/*===========================================================================*/

-/* Standard request helpers.   	                                     		 */

-/*===========================================================================*/

-

-#define USBH_GET_DESCRIPTOR(type, value, index)	\

-	USBH_STANDARDIN(type, \

-	USBH_REQ_GET_DESCRIPTOR, \

-	value, \

-	index) \

-

-#define USBH_GETDEVICEDESCRIPTOR \

-	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_DEVICE << 8) | 0, 0)

-

-#define USBH_GETCONFIGURATIONDESCRIPTOR(index) \

-	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_CONFIG << 8) | index, 0)

-

-#define USBH_GETSTRINGDESCRIPTOR(index, langID) \

-	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_STRING << 8) | index, langID)

-

-bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,

-		uint16_t wLength,

-		uint8_t *buf) {

-	usbh_device_descriptor_t *desc;

-	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETDEVICEDESCRIPTOR, wLength, buf);

-	desc = (usbh_device_descriptor_t *)buf;

-	if ((ret != USBH_URBSTATUS_OK)

-			|| (desc->bLength != USBH_DT_DEVICE_SIZE)

-			|| (desc->bDescriptorType != USBH_DT_DEVICE)) {

-		return HAL_FAILED;

-	}

-	return HAL_SUCCESS;

-}

-

-bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,

-		uint8_t index,

-		uint16_t wLength,

-		uint8_t *buf) {

-	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETCONFIGURATIONDESCRIPTOR(index), wLength, buf);

-	usbh_config_descriptor_t *const desc = (usbh_config_descriptor_t *)buf;

-	if ((ret != USBH_URBSTATUS_OK)

-			|| (desc->bLength < USBH_DT_CONFIG_SIZE)

-			|| (desc->bDescriptorType != USBH_DT_CONFIG)) {

-		return HAL_FAILED;

-	}

-	return HAL_SUCCESS;

-}

-

-bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,

-		uint8_t index,

-		uint16_t langID,

-		uint16_t wLength,

-		uint8_t *buf) {

-

-	osalDbgAssert(wLength >= USBH_DT_STRING_SIZE, "wrong size");

-	usbh_string_descriptor_t *desc = (usbh_string_descriptor_t *)buf;

-	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETSTRINGDESCRIPTOR(index, langID), wLength, buf);

-	if ((ret != USBH_URBSTATUS_OK)

-			|| (desc->bLength < USBH_DT_STRING_SIZE)

-			|| (desc->bDescriptorType != USBH_DT_STRING)) {

-		return HAL_FAILED;

-	}

-	return HAL_SUCCESS;

-}

-

-

-

-#define USBH_SET_INTERFACE(interface, alt)	\

-	USBH_STANDARDOUT(USBH_REQTYPE_INTERFACE, \

-	USBH_REQ_SET_INTERFACE, \

-	alt, \

-	interface) \

-

-#define USBH_GET_INTERFACE(interface)	\

-	USBH_STANDARDIN(USBH_REQTYPE_INTERFACE, \

-	USBH_REQ_GET_INTERFACE, \

-	0, \

-	interface) \

-

-bool usbhStdReqSetInterface(usbh_device_t *dev,

-		uint8_t bInterfaceNumber,

-		uint8_t bAlternateSetting) {

-

-	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_SET_INTERFACE(bInterfaceNumber, bAlternateSetting), 0, NULL);

-	if (ret != USBH_URBSTATUS_OK)

-		return HAL_FAILED;

-

-	return HAL_SUCCESS;

-}

-

-bool usbhStdReqGetInterface(usbh_device_t *dev,

-		uint8_t bInterfaceNumber,

-		uint8_t *bAlternateSetting) {

-

-	USBH_DEFINE_BUFFER(uint8_t, alt);

-

-	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GET_INTERFACE(bInterfaceNumber), 1, &alt);

-	if (ret != USBH_URBSTATUS_OK)

-		return HAL_FAILED;

-

-	*bAlternateSetting = alt;

-	return HAL_SUCCESS;

-}

-

-

-/*===========================================================================*/

-/* Device-related functions.   	                                     		 */

-/*===========================================================================*/

-

-static uint8_t _find_address(USBHDriver *host) {

-	uint8_t addr, i, j;

-	for (i = 0; i < sizeof_array(host->address_bitmap); i++) {

-		addr = host->address_bitmap[i];

-		for (j = 0; j < 8; j++) {

-			if ((addr & (1 << j)) == 0) {

-				//found:

-				addr = i * 8 + j + 1;

-				host->address_bitmap[i] |= (1 << j);

-				return addr;

-			}

-		}

-	}

-	return 0;

-}

-

-static void _free_address(USBHDriver *host, uint8_t addr) {

-	uinfof("Free address %d", addr);

-	host->address_bitmap[addr / 8] &= ~(1 << ((addr - 1) & 7));

-}

-

-static void _device_initialize(usbh_device_t *dev, usbh_devspeed_t speed) {

-	dev->address = 0;

-	dev->speed = speed;

-	dev->status = USBH_DEVSTATUS_DEFAULT;

-	dev->langID0 = 0;

-	dev->keepFullCfgDesc = 0;

-	_ep0_object_init(dev, 64);

-}

-

-static bool _device_setaddress(usbh_device_t *dev, uint8_t address) {

-	usbh_urbstatus_t ret = usbhControlRequest(dev,

-			USBH_STANDARDOUT(USBH_REQTYPE_DEVICE, USBH_REQ_SET_ADDRESS, address, 0),

-			0,

-			0);

-	if (ret != USBH_URBSTATUS_OK)

-		return HAL_FAILED;

-

-	dev->address = address;

-	return HAL_SUCCESS;

-}

-

-static inline bool _device_read_basic_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {

-	/* get configuration descriptor */

-	return usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,

-			sizeof(dev->basicConfigDesc), (uint8_t *)&dev->basicConfigDesc);

-}

-

-static void _device_read_full_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {

-	_check_dev(dev);

-

-	uint8_t i;

-

-	if (dev->fullConfigurationDescriptor != NULL) {

-		chHeapFree(dev->fullConfigurationDescriptor);

-	}

-

-	dev->fullConfigurationDescriptor =

-			(uint8_t *)chHeapAlloc(0, dev->basicConfigDesc.wTotalLength);

-

-	if (!dev->fullConfigurationDescriptor)

-		return;

-

-	for (i = 0; i < 3; i++) {

-		if (usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,

-				dev->basicConfigDesc.wTotalLength,

-				dev->fullConfigurationDescriptor) == HAL_SUCCESS) {

-			return;

-		}

-		osalThreadSleepMilliseconds(200);

-	}

-

-	/* error */

-	chHeapFree(dev->fullConfigurationDescriptor);

-	dev->fullConfigurationDescriptor = NULL;

-}

-

-static void _device_free_full_cfgdesc(usbh_device_t *dev) {

-	osalDbgCheck(dev);

-	if (dev->fullConfigurationDescriptor != NULL) {

-		chHeapFree(dev->fullConfigurationDescriptor);

-		dev->fullConfigurationDescriptor = NULL;

-	}

-}

-

-

-#define USBH_SET_CONFIGURATION(type, value, index)	\

-	USBH_STANDARDOUT(type, \

-	USBH_REQ_SET_CONFIGURATION, \

-	value, \

-	index) \

-

-#define USBH_SETDEVICECONFIGURATION(index) \

-	USBH_SET_CONFIGURATION(USBH_REQTYPE_DEVICE, index, 0)

-

-

-static bool _device_set_configuration(usbh_device_t *dev, uint8_t configuration) {

-	usbh_urbstatus_t ret = usbhControlRequest(dev,

-			USBH_SETDEVICECONFIGURATION(configuration),

-			0,

-			0);

-	if (ret != USBH_URBSTATUS_OK)

-		return HAL_FAILED;

-	return HAL_SUCCESS;

-}

-

-static bool _device_configure(usbh_device_t *dev, uint8_t bConfiguration) {

-	uint8_t i;

-

-	uinfof("Reading basic configuration descriptor %d", bConfiguration);

-	for (i = 0; i < 3; i++) {

-		if (!_device_read_basic_cfgdesc(dev, bConfiguration))

-			break;

-	}

-

-	if (i == 3) {

-		uerrf("Could not read basic configuration descriptor %d; "

-					"won't configure device", bConfiguration);

-		return HAL_FAILED;

-	}

-

-	uinfof("Selecting configuration %d", bConfiguration);

-	for (i = 0; i < 3; i++) {

-		if (!_device_set_configuration(dev, dev->basicConfigDesc.bConfigurationValue)) {

-			/* TODO: check if correctly configured using GET_CONFIGURATION */

-			dev->status = USBH_DEVSTATUS_CONFIGURED;

-			dev->bConfiguration = bConfiguration;

-

-			uinfo("Device configured.");

-			return HAL_SUCCESS;

-		}

-	}

-

-	return HAL_FAILED;

-}

-

-static bool _device_enumerate(usbh_device_t *dev) {

-

-	uinfo("Enumerate.");

-	uinfo("Get first 8 bytes of device descriptor");

-

-	/* get first 8 bytes of device descriptor */

-	if (usbhStdReqGetDeviceDescriptor(dev, 8, (uint8_t *)&dev->devDesc)) {

-		uerr("Error");

-		return HAL_FAILED;

-	}

-

-	uinfof("Configure bMaxPacketSize0 = %d", dev->devDesc.bMaxPacketSize0);

-	/* configure EP0 wMaxPacketSize */

-	usbhEPClose(&dev->ctrl);

-	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);

-	usbhEPOpen(&dev->ctrl);

-

-	uint8_t addr = _find_address(dev->host);

-	if (addr == 0) {

-		uerr("No free addresses found");

-		return HAL_FAILED;

-	}

-

-	/* set device address */

-	uinfof("Set device address: %d", addr);

-	if (_device_setaddress(dev, addr)) {

-		uerr("Error");

-		_free_address(dev->host, addr);

-		return HAL_FAILED;

-	}

-

-	/* update EP because of the address change */

-	usbhEPClose(&dev->ctrl);

-	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);

-	usbhEPOpen(&dev->ctrl);

-

-	uinfof("Wait stabilization...");

-	osalThreadSleepMilliseconds(HAL_USBH_DEVICE_ADDRESS_STABILIZATION);

-

-	/* address is set */

-	dev->status = USBH_DEVSTATUS_ADDRESS;

-

-	uinfof("Get full device desc");

-	/* get full device descriptor */

-	if (usbhStdReqGetDeviceDescriptor(dev, sizeof(dev->devDesc),

-			(uint8_t *)&dev->devDesc)) {

-		uerr("Error");

-		_device_setaddress(dev, 0);

-		_free_address(dev->host, addr);

-		return HAL_FAILED;

-	}

-

-	uinfof("Enumeration finished.");

-	return HAL_SUCCESS;

-}

-

-#if USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO

-void usbhDevicePrintInfo(usbh_device_t *dev) {

-	USBH_DEFINE_BUFFER(char, str[64]);

-	usbh_device_descriptor_t *const desc = &dev->devDesc;

-

-	uinfo("----- Device info -----");

-	uinfo("Device descriptor:");

-	uinfof("\tUSBSpec=%04x, #configurations=%d, langID0=%04x",

-			desc->bcdUSB,

-			desc->bNumConfigurations,

-			dev->langID0);

-

-	uinfof("\tClass=%02x, Subclass=%02x, Protocol=%02x",

-			desc->bDeviceClass,

-			desc->bDeviceSubClass,

-			desc->bDeviceProtocol);

-

-	uinfof("\tVID=%04x, PID=%04x, Release=%04x",

-			desc->idVendor,

-			desc->idProduct,

-			desc->bcdDevice);

-

-	if (dev->langID0) {

-		usbhDeviceReadString(dev, str, sizeof(str), desc->iManufacturer, dev->langID0);

-		uinfof("\tManufacturer: %s", str);

-		usbhDeviceReadString(dev, str, sizeof(str), desc->iProduct, dev->langID0);

-		uinfof("\tProduct: %s", str);

-		usbhDeviceReadString(dev, str, sizeof(str), desc->iSerialNumber, dev->langID0);

-		uinfof("\tSerial Number: %s", str);

-	}

-

-	if (dev->status == USBH_DEVSTATUS_CONFIGURED) {

-		uinfo("Configuration descriptor (partial):");

-		usbh_config_descriptor_t *const cfg = &dev->basicConfigDesc;

-		uinfof("\tbConfigurationValue=%d, Length=%d, #interfaces=%d",

-				cfg->bConfigurationValue,

-				cfg->wTotalLength,

-				cfg->bNumInterfaces);

-

-		uinfof("\tCurrent=%dmA", cfg->bMaxPower * 2);

-		uinfof("\tSelfPowered=%d, RemoteWakeup=%d",

-				cfg->bmAttributes & 0x40 ? 1 : 0,

-				cfg->bmAttributes & 0x20 ? 1 : 0);

-		if (dev->langID0) {

-			usbhDeviceReadString(dev, str, sizeof(str), cfg->iConfiguration, dev->langID0);

-			uinfof("\tName: %s", str);

-		}

-	}

-

-	uinfo("----- End Device info -----");

-

-}

-

-void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem) {

-	generic_iterator_t iep, icfg, ics;

-	if_iterator_t iif;

-

-	uinfo("----- Configuration info -----");

-	uinfo("Configuration descriptor:");

-	cfg_iter_init(&icfg, descriptor, rem);

-	const usbh_config_descriptor_t *const cfgdesc = cfg_get(&icfg);

-	uinfof("Configuration %d, #IFs=%d", cfgdesc->bConfigurationValue, cfgdesc->bNumInterfaces);

-

-	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {

-		const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);

-

-		uinfof("  Interface %d, alt=%d, #EPs=%d, "

-				"Class=%02x, Subclass=%02x, Protocol=%02x",

-				ifdesc->bInterfaceNumber, ifdesc->bAlternateSetting, ifdesc->bNumEndpoints,

-				ifdesc->bInterfaceClass, ifdesc->bInterfaceSubClass, ifdesc->bInterfaceProtocol);

-

-		for (cs_iter_init(&ics, (generic_iterator_t *)&iif); ics.valid; cs_iter_next(&ics)) {

-			uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",

-					ics.curr[0], ics.curr[1]);

-		}

-

-		for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {

-			const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);

-

-			uinfof("    Endpoint descriptor, Address=%02x, Type=%d, MaxPacket=%d, Interval=%d",

-					epdesc->bEndpointAddress,

-					epdesc->bmAttributes & 3,

-					epdesc->wMaxPacketSize,

-					epdesc->bInterval);

-

-			for (cs_iter_init(&ics, &iep); ics.valid; cs_iter_next(&ics)) {

-				uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",

-						ics.curr[0], ics.curr[1]);

-			}

-		}

-	}

-	uinfo("----- End Configuration info -----");

-}

-#endif

-

-bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,

-		uint8_t index, uint16_t langID) {

-

-	usbh_string_descriptor_t *const desc = (usbh_string_descriptor_t *)dest;

-	osalDbgAssert(size >= 2, "wrong size");

-

-	*dest = 0;

-	if (index == 0)

-		return HAL_SUCCESS;

-	if (usbhStdReqGetStringDescriptor(dev, index, langID, size, (uint8_t *)dest))

-		return HAL_FAILED;

-	if (desc->bLength & 1)

-		return HAL_FAILED;

-	if (desc->bLength <= 2)

-		return HAL_SUCCESS;

-

-	uint8_t nchars = desc->bLength / 2;		/* including the trailing 0 */

-	if (size < nchars)

-		nchars = size;

-

-	char *src = (char *)&desc->wData[0];

-	while (--nchars) {

-		*dest++ = *src;

-		src += 2;

-	}

-	*dest = 0;

-	return HAL_SUCCESS;

-}

-

-

-

-

-/*===========================================================================*/

-/* Port processing functions.  	                                     		 */

-/*===========================================================================*/

-

-static void _port_connected(usbh_port_t *port);

-

-static void _port_reset(usbh_port_t *port) {

-	usbhhubControlRequest(port->device.host,

-#if HAL_USBH_USE_HUB

-			port->hub,

-#endif

-			USBH_REQTYPE_OUT | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,

-			USBH_REQ_SET_FEATURE,

-			USBH_PORT_FEAT_RESET,

-			port->number,

-			0,

-			0);

-}

-

-static void _port_update_status(usbh_port_t *port) {

-	uint32_t stat;

-	if (usbhhubControlRequest(port->device.host,

-#if HAL_USBH_USE_HUB

-			port->hub,

-#endif

-			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,

-			USBH_REQ_GET_STATUS,

-			0,

-			port->number,

-			4,

-			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {

-		return;

-	}

-	port->status = stat & 0xffff;

-	port->c_status |= stat >> 16;

-}

-

-static void _port_process_status_change(usbh_port_t *port) {

-

-	_port_update_status(port);

-

-	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {

-		/* port connected status changed */

-		port->c_status &= ~USBH_PORTSTATUS_C_CONNECTION;

-		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_CONNECTION);

-		if ((port->status & (USBH_PORTSTATUS_CONNECTION | USBH_PORTSTATUS_ENABLE))

-				== USBH_PORTSTATUS_CONNECTION) {

-			if (port->device.status != USBH_DEVSTATUS_DISCONNECTED) {

-				_usbh_port_disconnected(port);

-			}

-

-			/* connected, disabled */

-			_port_connected(port);

-		} else {

-			/* disconnected */

-			_usbh_port_disconnected(port);

-		}

-	}

-

-	if (port->c_status & USBH_PORTSTATUS_C_RESET) {

-		port->c_status &= ~USBH_PORTSTATUS_C_RESET;

-		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);

-	}

-

-	if (port->c_status & USBH_PORTSTATUS_C_ENABLE) {

-		port->c_status &= ~USBH_PORTSTATUS_C_ENABLE;

-		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_ENABLE);

-	}

-

-	if (port->c_status & USBH_PORTSTATUS_C_OVERCURRENT) {

-		port->c_status &= ~USBH_PORTSTATUS_C_OVERCURRENT;

-		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_OVERCURRENT);

-	}

-

-	if (port->c_status & USBH_PORTSTATUS_C_SUSPEND) {

-		port->c_status &= ~USBH_PORTSTATUS_C_SUSPEND;

-		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_SUSPEND);

-	}

-

-}

-

-

-static void _port_connected(usbh_port_t *port) {

-	/* connected */

-

-	systime_t start;

-	uint8_t i;

-	uint8_t retries;

-	usbh_devspeed_t speed;

-	USBH_DEFINE_BUFFER(usbh_string_descriptor_t, strdesc);

-

-	uinfof("Port %d connected, wait debounce...", port->number);

-

-	port->device.status = USBH_DEVSTATUS_ATTACHED;

-

-	/* wait for attach de-bounce */

-	osalThreadSleepMilliseconds(HAL_USBH_PORT_DEBOUNCE_TIME);

-

-	/* check disconnection */

-	_port_update_status(port);

-	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {

-		/* connection state changed; abort */

-		goto abort;

-	}

-

-	port->device.status = USBH_DEVSTATUS_CONNECTED;

-	retries = 3;

-

-reset:

-	for (i = 0; i < 3; i++) {

-		uinfo("Try reset...");

-		port->c_status &= ~(USBH_PORTSTATUS_C_RESET | USBH_PORTSTATUS_C_ENABLE);

-		_port_reset(port);

-		osalThreadSleepMilliseconds(20);	/* give it some time to reset (min. 10ms) */

-		start = osalOsGetSystemTimeX();

-		while (TRUE) {

-			_port_update_status(port);

-

-			/* check for disconnection */

-			if (port->c_status & USBH_PORTSTATUS_C_CONNECTION)

-				goto abort;

-

-			/* check for reset completion */

-			if (port->c_status & USBH_PORTSTATUS_C_RESET) {

-				port->c_status &= ~USBH_PORTSTATUS_C_RESET;

-				usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);

-

-				if ((port->status & (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION))

-						== (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION)) {

-					goto reset_success;

-				}

-			}

-

-			/* check for timeout */

-			if (osalOsGetSystemTimeX() - start > HAL_USBH_PORT_RESET_TIMEOUT) break;

-		}

-	}

-

-	/* reset procedure failed; abort */

-	goto abort;

-

-reset_success:

-

-	uinfo("Reset OK, recovery...");

-

-	/* reset recovery */

-	osalThreadSleepMilliseconds(100);

-

-	/* initialize object */

-	if (port->status & USBH_PORTSTATUS_LOW_SPEED) {

-		speed = USBH_DEVSPEED_LOW;

-	} else if (port->status & USBH_PORTSTATUS_HIGH_SPEED) {

-		speed = USBH_DEVSPEED_HIGH;

-	} else {

-		speed = USBH_DEVSPEED_FULL;

-	}

-	_device_initialize(&port->device, speed);

-	usbhEPOpen(&port->device.ctrl);

-

-	/* device with default address (0), try enumeration */

-	if (_device_enumerate(&port->device)) {

-		/* enumeration failed */

-		usbhEPClose(&port->device.ctrl);

-

-		if (!--retries)

-			goto abort;

-

-		/* retry reset & enumeration */

-		goto reset;

-	}

-

-	/* load the default language ID */

-	uinfo("Loading langID0...");

-	if (!usbhStdReqGetStringDescriptor(&port->device, 0, 0,

-			USBH_DT_STRING_SIZE, (uint8_t *)&strdesc)

-		&& (strdesc.bLength >= 4)

-		&& !usbhStdReqGetStringDescriptor(&port->device, 0, 0,

-			4, (uint8_t *)&strdesc)) {

-

-		port->device.langID0 = strdesc.wData[0];

-		uinfof("langID0=%04x", port->device.langID0);

-	}

-

-	/* check if the device has only one configuration */

-	if (port->device.devDesc.bNumConfigurations == 1) {

-		uinfo("Device has only one configuration");

-		_device_configure(&port->device, 0);

-	}

-

-	_classdriver_process_device(&port->device);

-	return;

-

-abort:

-	uerr("Abort");

-	port->device.status = USBH_DEVSTATUS_DISCONNECTED;

-}

-

-void _usbh_port_disconnected(usbh_port_t *port) {

-	if (port->device.status == USBH_DEVSTATUS_DISCONNECTED)

-		return;

-

-	uinfo("Port disconnected");

-

-	/* unload drivers */

-	while (port->device.drivers) {

-		usbh_baseclassdriver_t *drv = port->device.drivers;

-

-		/* unload */

-		uinfof("Unload driver %s", drv->info->name);

-		drv->info->vmt->unload(drv);

-

-		/* unlink */

-		drv->dev = 0;

-		port->device.drivers = drv->next;

-	}

-

-	/* close control endpoint */

-	osalSysLock();

-	usbhEPCloseS(&port->device.ctrl);

-	osalSysUnlock();

-

-	/* free address */

-	if (port->device.address)

-		_free_address(port->device.host, port->device.address);

-

-	_device_free_full_cfgdesc(&port->device);

-

-	port->device.status = USBH_DEVSTATUS_DISCONNECTED;

-}

-

-

-

-/*===========================================================================*/

-/* Hub processing functions.  	                                     		 */

-/*===========================================================================*/

-

-#if HAL_USBH_USE_HUB

-static void _hub_update_status(USBHDriver *host, USBHHubDriver *hub) {

-	uint32_t stat;

-	if (usbhhubControlRequest(host,

-			hub,

-			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_DEVICE,

-			USBH_REQ_GET_STATUS,

-			0,

-			0,

-			4,

-			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {

-		return;

-	}

-	if (hub) {

-		hub->status = stat & 0xffff;

-		hub->c_status |= stat >> 16;

-	}

-}

-

-static void _hub_process_status_change(USBHDriver *host, USBHHubDriver *hub) {

-	uinfo("Hub status change. GET_STATUS.");

-	_hub_update_status(host, hub);

-

-	if (hub->c_status & USBH_HUBSTATUS_C_HUB_LOCAL_POWER) {

-		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_LOCAL_POWER;

-		uinfo("Clear USBH_HUB_FEAT_C_HUB_LOCAL_POWER");

-		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_LOCAL_POWER);

-	}

-

-	if (hub->c_status & USBH_HUBSTATUS_C_HUB_OVER_CURRENT) {

-		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_OVER_CURRENT;

-		uinfo("Clear USBH_HUB_FEAT_C_HUB_OVER_CURRENT");

-		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_OVER_CURRENT);

-	}

-}

-

-static uint32_t _hub_get_status_change_bitmap(USBHDriver *host, USBHHubDriver *hub) {

-	if (hub != NULL) {

-		osalSysLock();

-		uint32_t ret = hub->statuschange;

-		hub->statuschange = 0;

-		osalOsRescheduleS();

-		osalSysUnlock();

-		return ret;

-	}

-	return usbh_lld_roothub_get_statuschange_bitmap(host);

-}

-

-#else

-//TODO: replace the functions above

-#endif

-

-#if HAL_USBH_USE_HUB

-static void _hub_process(USBHDriver *host, USBHHubDriver *hub) {

-	uint32_t bitmap = _hub_get_status_change_bitmap(host, hub);

-	if (!bitmap)

-		return;

-

-	if (bitmap & 1) {

-		_hub_process_status_change(host, hub);

-		bitmap &= ~1;

-	}

-

-	usbh_port_t *port = (hub == NULL) ? &host->rootport : hub->ports;

-	uint8_t i;

-	for (i = 1; i < 32; i++) {

-		if (!bitmap || !port)

-			break;

-		if (bitmap & (1 << i)) {

-			bitmap &= ~(1 << i);

-			_port_process_status_change(port);

-		}

-		port = port->next;

-	}

-

-}

-#else

-static void _hub_process(USBHDriver *host) {

-	uint32_t bitmap = usbh_lld_roothub_get_statuschange_bitmap(host);

-

-#if 0	//TODO: complete _hub_process_status_change for root hub

-	if (bitmap & 1) {

-		_hub_process_status_change(host, hub);

-		bitmap &= ~1;

-	}

-#endif

-

-	if (!bitmap)

-		return;

-

-	_port_process_status_change(&host->rootport);

-}

-#endif

-

-/*===========================================================================*/

-/* Main processing loop (enumeration, loading/unloading drivers, etc). 		 */

-/*===========================================================================*/

-void usbhMainLoop(USBHDriver *usbh) {

-

-	if (usbh->status == USBH_STATUS_STOPPED)

-		return;

-

-#if HAL_USBH_USE_HUB

-	/* process root hub */

-	_hub_process(usbh, NULL);

-

-	/* process connected hubs */

-	USBHHubDriver *hub;

-    list_for_each_entry(hub, USBHHubDriver, &usbh->hubs, node) {

-		_hub_process(usbh, hub);

-	}

-#else

-	/* process root hub */

-	_hub_process(usbh);

-#endif

-}

-

-

-/*===========================================================================*/

-/* IAD class driver.											 		 	 */

-/*===========================================================================*/

-#if HAL_USBH_USE_IAD

-static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);

-static void iad_unload(usbh_baseclassdriver_t *drv);

-static const usbh_classdriver_vmt_t usbhiadClassDriverVMT = {

-	iad_load,

-	iad_unload

-};

-static const usbh_classdriverinfo_t usbhiadClassDriverInfo = {

-	0xef, 0x02, 0x01, "IAD", &usbhiadClassDriverVMT

-};

-

-static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev,

-		const uint8_t *descriptor, uint16_t rem) {

-	(void)rem;

-

-	if (descriptor[1] != USBH_DT_DEVICE)

-		return 0;

-

-	uinfo("Load a driver for each IF collection.");

-

-	generic_iterator_t icfg;

-	if_iterator_t iif;

-	const usbh_ia_descriptor_t *last_iad = 0;

-

-	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,

-			dev->basicConfigDesc.wTotalLength);

-	if (!icfg.valid) {

-		uerr("Invalid configuration descriptor.");

-		return 0;

-	}

-

-	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {

-		if (iif.iad && (iif.iad != last_iad)) {

-			last_iad = iif.iad;

-			if (_classdriver_load(dev, iif.iad->bFunctionClass,

-					iif.iad->bFunctionSubClass,

-					iif.iad->bFunctionProtocol,

-					(uint8_t *)iif.iad,

-					(uint8_t *)iif.curr - (uint8_t *)iif.iad + iif.rem) != HAL_SUCCESS) {

-				uwarnf("No drivers found for IF collection #%d:%d",

-						iif.iad->bFirstInterface,

-						iif.iad->bFirstInterface + iif.iad->bInterfaceCount - 1);

-			}

-		}

-	}

-

-	return 0;

-}

-

-static void iad_unload(usbh_baseclassdriver_t *drv) {

-	(void)drv;

-}

-#endif

-

-

-/*===========================================================================*/

-/* Class driver loader.											 		 	 */

-/*===========================================================================*/

-

-static const usbh_classdriverinfo_t *usbh_classdrivers_lookup[] = {

-#if HAL_USBH_USE_FTDI

-	&usbhftdiClassDriverInfo,

-#endif

-#if HAL_USBH_USE_IAD

-	&usbhiadClassDriverInfo,

-#endif

-#if HAL_USBH_USE_UVC

-	&usbhuvcClassDriverInfo,

-#endif

-#if HAL_USBH_USE_MSD

-	&usbhmsdClassDriverInfo,

-#endif

-#if HAL_USBH_USE_HUB

-	&usbhhubClassDriverInfo

-#endif

-};

-

-static bool _classdriver_load(usbh_device_t *dev, uint8_t class,

-		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem) {

-	uint8_t i;

-	usbh_baseclassdriver_t *drv = NULL;

-	for (i = 0; i < sizeof_array(usbh_classdrivers_lookup); i++) {

-		const usbh_classdriverinfo_t *const info = usbh_classdrivers_lookup[i];

-		if (class == 0xff) {

-			/* vendor specific */

-			if (info->class == 0xff) {

-				uinfof("Try load vendor-specific driver %s", info->name);

-				drv = info->vmt->load(dev, descbuff, rem);

-				if (drv != NULL)

-					goto success;

-			}

-		} else if ((info->class < 0) || ((info->class == class)

-			&& ((info->subclass < 0) || ((info->subclass == subclass)

-			&& ((info->protocol < 0) || (info->protocol == protocol)))))) {

-			uinfof("Try load driver %s", info->name);

-			drv = info->vmt->load(dev, descbuff, rem);

-

-#if HAL_USBH_USE_IAD

-			/* special case: */

-			if (info == &usbhiadClassDriverInfo)

-				return HAL_SUCCESS;

-#endif

-

-			if (drv != NULL)

-				goto success;

-		}

-	}

-	return HAL_FAILED;

-

-success:

-	/* Link this driver to the device */

-	drv->next = dev->drivers;

-	dev->drivers = drv;

-	drv->dev = dev;

-	return HAL_SUCCESS;

-}

-

-static void _classdriver_process_device(usbh_device_t *dev) {

-	uinfo("New device found.");

-	const usbh_device_descriptor_t *const devdesc = &dev->devDesc;

-

-	usbhDevicePrintInfo(dev);

-

-	/* TODO: Support multiple configurations

-	 *

-	 * Windows doesn't support them, so it's unlikely that any commercial USB device

-	 * will have multiple configurations.

-	 */

-	if (dev->status != USBH_DEVSTATUS_CONFIGURED) {

-		uwarn("Multiple configurations not supported, selecting configuration #0");

-		if (_device_configure(dev, 0) != HAL_SUCCESS) {

-			uerr("Couldn't configure device; abort.");

-			return;

-		}

-	}

-

-	_device_read_full_cfgdesc(dev, dev->bConfiguration);

-	if (dev->fullConfigurationDescriptor == NULL) {

-		uerr("Couldn't read full configuration descriptor; abort.");

-		return;

-	}

-

-	usbhDevicePrintConfiguration(dev->fullConfigurationDescriptor,

-			dev->basicConfigDesc.wTotalLength);

-

-	if (devdesc->bDeviceClass == 0) {

-		/* each interface defines its own device class/subclass/protocol */

-		uinfo("Load a driver for each IF.");

-

-		generic_iterator_t icfg;

-		if_iterator_t iif;

-		uint8_t last_if = 0xff;

-

-		cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,

-				dev->basicConfigDesc.wTotalLength);

-		if (!icfg.valid) {

-			uerr("Invalid configuration descriptor.");

-			goto exit;

-		}

-

-		for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {

-			const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);

-			if (ifdesc->bInterfaceNumber != last_if) {

-				last_if = ifdesc->bInterfaceNumber;

-				if (_classdriver_load(dev, ifdesc->bInterfaceClass,

-						ifdesc->bInterfaceSubClass,

-						ifdesc->bInterfaceProtocol,

-						(uint8_t *)ifdesc, iif.rem) != HAL_SUCCESS) {

-					uwarnf("No drivers found for IF #%d", ifdesc->bInterfaceNumber);

-				}

-			}

-		}

-

-	} else {

-		if (_classdriver_load(dev, devdesc->bDeviceClass,

-				devdesc->bDeviceSubClass,

-				devdesc->bDeviceProtocol,

-				(uint8_t *)devdesc, USBH_DT_DEVICE_SIZE) != HAL_SUCCESS) {

-			uwarn("No drivers found.");

-		}

-	}

-

-exit:

-	if (dev->keepFullCfgDesc == 0) {

-		_device_free_full_cfgdesc(dev);

-	}

-}

-

-

-#endif

-

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+
+#include "usbh/dev/hub.h"
+#include "usbh/internal.h"
+#include <string.h>
+
+#if USBH_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+#if STM32_USBH_USE_OTG1
+USBHDriver USBHD1;
+#endif
+#if STM32_USBH_USE_OTG2
+USBHDriver USBHD2;
+#endif
+
+
+static void _classdriver_process_device(usbh_device_t *dev);
+static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
+		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem);
+
+
+/*===========================================================================*/
+/* Checks.								                                     */
+/*===========================================================================*/
+
+static inline void _check_dev(usbh_device_t *dev) {
+	osalDbgCheck(dev);
+	//TODO: add more checks.
+}
+
+static inline void _check_ep(usbh_ep_t *ep) {
+	osalDbgCheck(ep != 0);
+	_check_dev(ep->device);
+	osalDbgCheck(ep->type <= 3);
+	//TODO: add more checks.
+}
+
+static inline void _check_urb(usbh_urb_t *urb) {
+	osalDbgCheck(urb != 0);
+	_check_ep(urb->ep);
+	osalDbgCheck((urb->buff != NULL) || (urb->requestedLength == 0));
+	//TODO: add more checks.
+}
+
+/*===========================================================================*/
+/* Main driver API.						                                     */
+/*===========================================================================*/
+
+void usbhObjectInit(USBHDriver *usbh) {
+	memset(usbh, 0, sizeof(*usbh));
+	usbh->status = USBH_STATUS_STOPPED;
+#if HAL_USBH_USE_HUB
+	INIT_LIST_HEAD(&usbh->hubs);
+	_usbhub_port_object_init(&usbh->rootport, usbh, 0, 1);
+#else
+	_usbhub_port_object_init(&usbh->rootport, usbh, 1);
+#endif
+}
+
+void usbhInit(void) {
+#if HAL_USBH_USE_HUB
+	uint8_t i;
+	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {
+		usbhhubObjectInit(&USBHHUBD[i]);
+	}
+#endif
+	usbh_lld_init();
+}
+
+void usbhStart(USBHDriver *usbh) {
+	usbDbgInit(usbh);
+
+	osalSysLock();
+	osalDbgAssert((usbh->status == USBH_STATUS_STOPPED) || (usbh->status == USBH_STATUS_STARTED),
+				"invalid state");
+	usbh_lld_start(usbh);
+	usbh->status = USBH_STATUS_STARTED;
+	osalOsRescheduleS();
+	osalSysUnlock();
+}
+
+
+void usbhStop(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+void usbhSuspend(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+void usbhResume(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+
+/*===========================================================================*/
+/* Endpoint API.						                                     */
+/*===========================================================================*/
+
+void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc) {
+	osalDbgCheck(ep);
+	_check_dev(dev);
+	osalDbgCheck(desc);
+
+	memset(ep, 0, sizeof(*ep));
+	ep->device = dev;
+	ep->wMaxPacketSize = desc->wMaxPacketSize;
+	ep->address = desc->bEndpointAddress & 0x0F;
+	ep->type = (usbh_eptype_t) (desc->bmAttributes & 0x03);
+	if (ep->type != USBH_EPTYPE_CTRL) {
+		ep->in = (desc->bEndpointAddress & 0x80) ? TRUE : FALSE;
+	}
+	ep->bInterval = desc->bInterval;
+
+	/* low-level part */
+	usbh_lld_ep_object_init(ep);
+
+	ep->status = USBH_EPSTATUS_CLOSED;
+}
+
+
+static void _ep0_object_init(usbh_device_t *dev, uint16_t wMaxPacketSize) {
+	const usbh_endpoint_descriptor_t ep0_descriptor = {
+		7,	//bLength
+		5,	//bDescriptorType
+		0,	//bEndpointAddress
+		0,	//bmAttributes
+		wMaxPacketSize,
+		0,	//bInterval
+	};
+	usbhEPObjectInit(&dev->ctrl, dev, &ep0_descriptor);
+	usbhEPSetName(&dev->ctrl, "DEV[CTRL]");
+}
+
+
+/*===========================================================================*/
+/* URB API.				    	                                     		 */
+/*===========================================================================*/
+
+void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,
+		void *user, void *buff, uint32_t len) {
+
+	osalDbgCheck(urb != 0);
+	_check_ep(ep);
+
+	/* initialize the common part: */
+	urb->ep = ep;
+	urb->callback = callback;
+	urb->userData = user;
+	urb->buff = buff;
+	urb->requestedLength = len;
+	urb->actualLength = 0;
+	urb->status = USBH_URBSTATUS_INITIALIZED;
+	urb->waitingThread = 0;
+	urb->abortingThread = 0;
+
+	/* initialize the ll part: */
+	usbh_lld_urb_object_init(urb);
+}
+
+void usbhURBObjectResetI(usbh_urb_t *urb) {
+	osalDbgAssert(!usbhURBIsBusy(urb), "invalid status");
+
+	osalDbgCheck((urb->waitingThread == 0) && (urb->abortingThread == 0));
+
+	urb->actualLength = 0;
+	urb->status = USBH_URBSTATUS_INITIALIZED;
+
+	/* reset the ll part: */
+	usbh_lld_urb_object_reset(urb);
+}
+
+void usbhURBSubmitI(usbh_urb_t *urb) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+	osalDbgAssert(urb->status == USBH_URBSTATUS_INITIALIZED, "invalid status");
+	usbh_ep_t *const ep = urb->ep;
+	if (ep->status == USBH_EPSTATUS_HALTED) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_STALL);
+		return;
+	}
+	if (ep->status != USBH_EPSTATUS_OPEN) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);
+		return;
+	}
+	if (!(usbhDeviceGetPort(ep->device)->status & USBH_PORTSTATUS_ENABLE)) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);
+		return;
+	}
+	urb->status = USBH_URBSTATUS_PENDING;
+	usbh_lld_urb_submit(urb);
+}
+
+bool _usbh_urb_abortI(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+
+	switch (urb->status) {
+/*	case USBH_URBSTATUS_UNINITIALIZED:
+ * 	case USBH_URBSTATUS_INITIALIZED:
+ *	case USBH_URBSTATUS_ERROR:
+ *	case USBH_URBSTATUS_TIMEOUT:
+ *	case USBH_URBSTATUS_CANCELLED:
+ *	case USBH_URBSTATUS_STALL:
+ *	case USBH_URBSTATUS_DISCONNECTED:
+ *	case USBH_URBSTATUS_OK: */
+	default:
+		/* already finished */
+		_usbh_urb_completeI(urb, status);
+		return TRUE;
+
+//	case USBH_URBSTATUS_QUEUED:
+	case USBH_URBSTATUS_PENDING:
+		return usbh_lld_urb_abort(urb, status);
+	}
+}
+
+void _usbh_urb_abort_and_waitS(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	if (_usbh_urb_abortI(urb, status) == FALSE) {
+		uwarn("URB wasn't aborted immediately, suspend");
+		osalThreadSuspendS(&urb->abortingThread);
+		urb->abortingThread = 0;
+	} else {
+		osalOsRescheduleS();
+	}
+	uwarn("URB aborted");
+}
+
+bool usbhURBCancelI(usbh_urb_t *urb) {
+	return _usbh_urb_abortI(urb, USBH_URBSTATUS_CANCELLED);
+}
+
+void usbhURBCancelAndWaitS(usbh_urb_t *urb) {
+	_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_CANCELLED);
+}
+
+msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout) {
+	msg_t ret;
+
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	switch (urb->status) {
+	case USBH_URBSTATUS_INITIALIZED:
+	case USBH_URBSTATUS_PENDING:
+//	case USBH_URBSTATUS_QUEUED:
+		ret = osalThreadSuspendTimeoutS(&urb->waitingThread, timeout);
+		urb->waitingThread = 0;
+		break;
+
+	case USBH_URBSTATUS_OK:
+		ret = MSG_OK;
+		osalOsRescheduleS();
+		break;
+
+/*	case USBH_URBSTATUS_UNINITIALIZED:
+ *	case USBH_URBSTATUS_ERROR:
+ *	case USBH_URBSTATUS_TIMEOUT:
+ *	case USBH_URBSTATUS_CANCELLED:
+ *	case USBH_URBSTATUS_STALL:
+ *	case USBH_URBSTATUS_DISCONNECTED: */
+	default:
+		ret = MSG_RESET;
+		osalOsRescheduleS();
+		break;
+	}
+	return ret;
+}
+
+msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout) {
+	msg_t ret;
+
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	usbhURBSubmitI(urb);
+	ret = usbhURBWaitTimeoutS(urb, timeout);
+	if (ret == MSG_TIMEOUT)
+		_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_TIMEOUT);
+
+	return ret;
+}
+
+static inline msg_t _wakeup_message(usbh_urbstatus_t status) {
+	if (status == USBH_URBSTATUS_OK) return MSG_OK;
+	if (status == USBH_URBSTATUS_TIMEOUT) return MSG_TIMEOUT;
+	return MSG_RESET;
+}
+
+void _usbh_urb_completeI(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+	urb->status = status;
+	osalThreadResumeI(&urb->waitingThread, _wakeup_message(status));
+	osalThreadResumeI(&urb->abortingThread, MSG_RESET);
+	if (urb->callback)
+		urb->callback(urb);
+}
+
+/*===========================================================================*/
+/* Synchronous API.		    	                                     		 */
+/*===========================================================================*/
+
+usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,
+		void *data,
+		uint32_t len,
+		uint32_t *actual_len,
+		systime_t timeout) {
+
+	osalDbgCheck(ep != NULL);
+	osalDbgCheck((data != NULL) || (len == 0));
+	osalDbgAssert(ep->type == USBH_EPTYPE_BULK, "wrong ep");
+
+	usbh_urb_t urb;
+	usbhURBObjectInit(&urb, ep, 0, 0, data, len);
+
+	osalSysLock();
+	usbhURBSubmitAndWaitS(&urb, timeout);
+	osalSysUnlock();
+
+	if (actual_len != NULL)
+		*actual_len = urb.actualLength;
+
+	return urb.status;
+}
+
+usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,
+		const usbh_control_request_t *req,
+		uint8_t *buff,
+		uint32_t *actual_len,
+		systime_t timeout) {
+
+	_check_dev(dev);
+	osalDbgCheck(req != NULL);
+
+	usbh_urb_t urb;
+
+	usbhURBObjectInit(&urb, &dev->ctrl, 0, 0, buff, req->wLength);
+	urb.setup_buff = req;
+
+	osalSysLock();
+	usbhURBSubmitAndWaitS(&urb, timeout);
+	osalSysUnlock();
+
+	if (actual_len != NULL)
+		*actual_len = urb.actualLength;
+
+	return urb.status;
+}
+
+usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,
+		uint8_t bmRequestType,
+		uint8_t bRequest,
+		uint16_t wValue,
+		uint16_t wIndex,
+		uint16_t wLength,
+		uint8_t *buff) {
+
+	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+			bmRequestType,
+			bRequest,
+			wValue,
+			wIndex,
+			wLength
+	};
+	return usbhControlRequestExtended(dev, &req, buff, NULL, MS2ST(1000));
+}
+
+/*===========================================================================*/
+/* Standard request helpers.   	                                     		 */
+/*===========================================================================*/
+
+#define USBH_GET_DESCRIPTOR(type, value, index)	\
+	USBH_STANDARDIN(type, \
+	USBH_REQ_GET_DESCRIPTOR, \
+	value, \
+	index) \
+
+#define USBH_GETDEVICEDESCRIPTOR \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_DEVICE << 8) | 0, 0)
+
+#define USBH_GETCONFIGURATIONDESCRIPTOR(index) \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_CONFIG << 8) | index, 0)
+
+#define USBH_GETSTRINGDESCRIPTOR(index, langID) \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_STRING << 8) | index, langID)
+
+bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,
+		uint16_t wLength,
+		uint8_t *buf) {
+	usbh_device_descriptor_t *desc;
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETDEVICEDESCRIPTOR, wLength, buf);
+	desc = (usbh_device_descriptor_t *)buf;
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength != USBH_DT_DEVICE_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_DEVICE)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,
+		uint8_t index,
+		uint16_t wLength,
+		uint8_t *buf) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETCONFIGURATIONDESCRIPTOR(index), wLength, buf);
+	usbh_config_descriptor_t *const desc = (usbh_config_descriptor_t *)buf;
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength < USBH_DT_CONFIG_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_CONFIG)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,
+		uint8_t index,
+		uint16_t langID,
+		uint16_t wLength,
+		uint8_t *buf) {
+
+	osalDbgAssert(wLength >= USBH_DT_STRING_SIZE, "wrong size");
+	usbh_string_descriptor_t *desc = (usbh_string_descriptor_t *)buf;
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETSTRINGDESCRIPTOR(index, langID), wLength, buf);
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength < USBH_DT_STRING_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_STRING)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+
+
+#define USBH_SET_INTERFACE(interface, alt)	\
+	USBH_STANDARDOUT(USBH_REQTYPE_INTERFACE, \
+	USBH_REQ_SET_INTERFACE, \
+	alt, \
+	interface) \
+
+#define USBH_GET_INTERFACE(interface)	\
+	USBH_STANDARDIN(USBH_REQTYPE_INTERFACE, \
+	USBH_REQ_GET_INTERFACE, \
+	0, \
+	interface) \
+
+bool usbhStdReqSetInterface(usbh_device_t *dev,
+		uint8_t bInterfaceNumber,
+		uint8_t bAlternateSetting) {
+
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_SET_INTERFACE(bInterfaceNumber, bAlternateSetting), 0, NULL);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetInterface(usbh_device_t *dev,
+		uint8_t bInterfaceNumber,
+		uint8_t *bAlternateSetting) {
+
+	USBH_DEFINE_BUFFER(uint8_t, alt);
+
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GET_INTERFACE(bInterfaceNumber), 1, &alt);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	*bAlternateSetting = alt;
+	return HAL_SUCCESS;
+}
+
+
+/*===========================================================================*/
+/* Device-related functions.   	                                     		 */
+/*===========================================================================*/
+
+static uint8_t _find_address(USBHDriver *host) {
+	uint8_t addr, i, j;
+	for (i = 0; i < sizeof_array(host->address_bitmap); i++) {
+		addr = host->address_bitmap[i];
+		for (j = 0; j < 8; j++) {
+			if ((addr & (1 << j)) == 0) {
+				//found:
+				addr = i * 8 + j + 1;
+				host->address_bitmap[i] |= (1 << j);
+				return addr;
+			}
+		}
+	}
+	return 0;
+}
+
+static void _free_address(USBHDriver *host, uint8_t addr) {
+	uinfof("Free address %d", addr);
+	host->address_bitmap[addr / 8] &= ~(1 << ((addr - 1) & 7));
+}
+
+static void _device_initialize(usbh_device_t *dev, usbh_devspeed_t speed) {
+	dev->address = 0;
+	dev->speed = speed;
+	dev->status = USBH_DEVSTATUS_DEFAULT;
+	dev->langID0 = 0;
+	dev->keepFullCfgDesc = 0;
+	_ep0_object_init(dev, 64);
+}
+
+static bool _device_setaddress(usbh_device_t *dev, uint8_t address) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev,
+			USBH_STANDARDOUT(USBH_REQTYPE_DEVICE, USBH_REQ_SET_ADDRESS, address, 0),
+			0,
+			0);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	dev->address = address;
+	return HAL_SUCCESS;
+}
+
+static inline bool _device_read_basic_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {
+	/* get configuration descriptor */
+	return usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,
+			sizeof(dev->basicConfigDesc), (uint8_t *)&dev->basicConfigDesc);
+}
+
+static void _device_read_full_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {
+	_check_dev(dev);
+
+	uint8_t i;
+
+	if (dev->fullConfigurationDescriptor != NULL) {
+		chHeapFree(dev->fullConfigurationDescriptor);
+	}
+
+	dev->fullConfigurationDescriptor =
+			(uint8_t *)chHeapAlloc(0, dev->basicConfigDesc.wTotalLength);
+
+	if (!dev->fullConfigurationDescriptor)
+		return;
+
+	for (i = 0; i < 3; i++) {
+		if (usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,
+				dev->basicConfigDesc.wTotalLength,
+				dev->fullConfigurationDescriptor) == HAL_SUCCESS) {
+			return;
+		}
+		osalThreadSleepMilliseconds(200);
+	}
+
+	/* error */
+	chHeapFree(dev->fullConfigurationDescriptor);
+	dev->fullConfigurationDescriptor = NULL;
+}
+
+static void _device_free_full_cfgdesc(usbh_device_t *dev) {
+	osalDbgCheck(dev);
+	if (dev->fullConfigurationDescriptor != NULL) {
+		chHeapFree(dev->fullConfigurationDescriptor);
+		dev->fullConfigurationDescriptor = NULL;
+	}
+}
+
+
+#define USBH_SET_CONFIGURATION(type, value, index)	\
+	USBH_STANDARDOUT(type, \
+	USBH_REQ_SET_CONFIGURATION, \
+	value, \
+	index) \
+
+#define USBH_SETDEVICECONFIGURATION(index) \
+	USBH_SET_CONFIGURATION(USBH_REQTYPE_DEVICE, index, 0)
+
+
+static bool _device_set_configuration(usbh_device_t *dev, uint8_t configuration) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev,
+			USBH_SETDEVICECONFIGURATION(configuration),
+			0,
+			0);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+	return HAL_SUCCESS;
+}
+
+static bool _device_configure(usbh_device_t *dev, uint8_t bConfiguration) {
+	uint8_t i;
+
+	uinfof("Reading basic configuration descriptor %d", bConfiguration);
+	for (i = 0; i < 3; i++) {
+		if (!_device_read_basic_cfgdesc(dev, bConfiguration))
+			break;
+	}
+
+	if (i == 3) {
+		uerrf("Could not read basic configuration descriptor %d; "
+					"won't configure device", bConfiguration);
+		return HAL_FAILED;
+	}
+
+	uinfof("Selecting configuration %d", bConfiguration);
+	for (i = 0; i < 3; i++) {
+		if (!_device_set_configuration(dev, dev->basicConfigDesc.bConfigurationValue)) {
+			/* TODO: check if correctly configured using GET_CONFIGURATION */
+			dev->status = USBH_DEVSTATUS_CONFIGURED;
+			dev->bConfiguration = bConfiguration;
+
+			uinfo("Device configured.");
+			return HAL_SUCCESS;
+		}
+	}
+
+	return HAL_FAILED;
+}
+
+static bool _device_enumerate(usbh_device_t *dev) {
+
+	uinfo("Enumerate.");
+	uinfo("Get first 8 bytes of device descriptor");
+
+	/* get first 8 bytes of device descriptor */
+	if (usbhStdReqGetDeviceDescriptor(dev, 8, (uint8_t *)&dev->devDesc)) {
+		uerr("Error");
+		return HAL_FAILED;
+	}
+
+	uinfof("Configure bMaxPacketSize0 = %d", dev->devDesc.bMaxPacketSize0);
+	/* configure EP0 wMaxPacketSize */
+	usbhEPClose(&dev->ctrl);
+	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);
+	usbhEPOpen(&dev->ctrl);
+
+	uint8_t addr = _find_address(dev->host);
+	if (addr == 0) {
+		uerr("No free addresses found");
+		return HAL_FAILED;
+	}
+
+	/* set device address */
+	uinfof("Set device address: %d", addr);
+	if (_device_setaddress(dev, addr)) {
+		uerr("Error");
+		_free_address(dev->host, addr);
+		return HAL_FAILED;
+	}
+
+	/* update EP because of the address change */
+	usbhEPClose(&dev->ctrl);
+	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);
+	usbhEPOpen(&dev->ctrl);
+
+	uinfof("Wait stabilization...");
+	osalThreadSleepMilliseconds(HAL_USBH_DEVICE_ADDRESS_STABILIZATION);
+
+	/* address is set */
+	dev->status = USBH_DEVSTATUS_ADDRESS;
+
+	uinfof("Get full device desc");
+	/* get full device descriptor */
+	if (usbhStdReqGetDeviceDescriptor(dev, sizeof(dev->devDesc),
+			(uint8_t *)&dev->devDesc)) {
+		uerr("Error");
+		_device_setaddress(dev, 0);
+		_free_address(dev->host, addr);
+		return HAL_FAILED;
+	}
+
+	uinfof("Enumeration finished.");
+	return HAL_SUCCESS;
+}
+
+#if USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO
+void usbhDevicePrintInfo(usbh_device_t *dev) {
+	USBH_DEFINE_BUFFER(char, str[64]);
+	usbh_device_descriptor_t *const desc = &dev->devDesc;
+
+	uinfo("----- Device info -----");
+	uinfo("Device descriptor:");
+	uinfof("\tUSBSpec=%04x, #configurations=%d, langID0=%04x",
+			desc->bcdUSB,
+			desc->bNumConfigurations,
+			dev->langID0);
+
+	uinfof("\tClass=%02x, Subclass=%02x, Protocol=%02x",
+			desc->bDeviceClass,
+			desc->bDeviceSubClass,
+			desc->bDeviceProtocol);
+
+	uinfof("\tVID=%04x, PID=%04x, Release=%04x",
+			desc->idVendor,
+			desc->idProduct,
+			desc->bcdDevice);
+
+	if (dev->langID0) {
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iManufacturer, dev->langID0);
+		uinfof("\tManufacturer: %s", str);
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iProduct, dev->langID0);
+		uinfof("\tProduct: %s", str);
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iSerialNumber, dev->langID0);
+		uinfof("\tSerial Number: %s", str);
+	}
+
+	if (dev->status == USBH_DEVSTATUS_CONFIGURED) {
+		uinfo("Configuration descriptor (partial):");
+		usbh_config_descriptor_t *const cfg = &dev->basicConfigDesc;
+		uinfof("\tbConfigurationValue=%d, Length=%d, #interfaces=%d",
+				cfg->bConfigurationValue,
+				cfg->wTotalLength,
+				cfg->bNumInterfaces);
+
+		uinfof("\tCurrent=%dmA", cfg->bMaxPower * 2);
+		uinfof("\tSelfPowered=%d, RemoteWakeup=%d",
+				cfg->bmAttributes & 0x40 ? 1 : 0,
+				cfg->bmAttributes & 0x20 ? 1 : 0);
+		if (dev->langID0) {
+			usbhDeviceReadString(dev, str, sizeof(str), cfg->iConfiguration, dev->langID0);
+			uinfof("\tName: %s", str);
+		}
+	}
+
+	uinfo("----- End Device info -----");
+
+}
+
+void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem) {
+	generic_iterator_t iep, icfg, ics;
+	if_iterator_t iif;
+
+	uinfo("----- Configuration info -----");
+	uinfo("Configuration descriptor:");
+	cfg_iter_init(&icfg, descriptor, rem);
+	const usbh_config_descriptor_t *const cfgdesc = cfg_get(&icfg);
+	uinfof("Configuration %d, #IFs=%d", cfgdesc->bConfigurationValue, cfgdesc->bNumInterfaces);
+
+	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+		const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+
+		uinfof("  Interface %d, alt=%d, #EPs=%d, "
+				"Class=%02x, Subclass=%02x, Protocol=%02x",
+				ifdesc->bInterfaceNumber, ifdesc->bAlternateSetting, ifdesc->bNumEndpoints,
+				ifdesc->bInterfaceClass, ifdesc->bInterfaceSubClass, ifdesc->bInterfaceProtocol);
+
+		for (cs_iter_init(&ics, (generic_iterator_t *)&iif); ics.valid; cs_iter_next(&ics)) {
+			uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",
+					ics.curr[0], ics.curr[1]);
+		}
+
+		for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+			const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+
+			uinfof("    Endpoint descriptor, Address=%02x, Type=%d, MaxPacket=%d, Interval=%d",
+					epdesc->bEndpointAddress,
+					epdesc->bmAttributes & 3,
+					epdesc->wMaxPacketSize,
+					epdesc->bInterval);
+
+			for (cs_iter_init(&ics, &iep); ics.valid; cs_iter_next(&ics)) {
+				uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",
+						ics.curr[0], ics.curr[1]);
+			}
+		}
+	}
+	uinfo("----- End Configuration info -----");
+}
+#endif
+
+bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,
+		uint8_t index, uint16_t langID) {
+
+	usbh_string_descriptor_t *const desc = (usbh_string_descriptor_t *)dest;
+	osalDbgAssert(size >= 2, "wrong size");
+
+	*dest = 0;
+	if (index == 0)
+		return HAL_SUCCESS;
+	if (usbhStdReqGetStringDescriptor(dev, index, langID, size, (uint8_t *)dest))
+		return HAL_FAILED;
+	if (desc->bLength & 1)
+		return HAL_FAILED;
+	if (desc->bLength <= 2)
+		return HAL_SUCCESS;
+
+	uint8_t nchars = desc->bLength / 2;		/* including the trailing 0 */
+	if (size < nchars)
+		nchars = size;
+
+	char *src = (char *)&desc->wData[0];
+	while (--nchars) {
+		*dest++ = *src;
+		src += 2;
+	}
+	*dest = 0;
+	return HAL_SUCCESS;
+}
+
+
+
+
+/*===========================================================================*/
+/* Port processing functions.  	                                     		 */
+/*===========================================================================*/
+
+static void _port_connected(usbh_port_t *port);
+
+static void _port_reset(usbh_port_t *port) {
+	usbhhubControlRequest(port->device.host,
+#if HAL_USBH_USE_HUB
+			port->hub,
+#endif
+			USBH_REQTYPE_OUT | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,
+			USBH_REQ_SET_FEATURE,
+			USBH_PORT_FEAT_RESET,
+			port->number,
+			0,
+			0);
+}
+
+static void _port_update_status(usbh_port_t *port) {
+	uint32_t stat;
+	if (usbhhubControlRequest(port->device.host,
+#if HAL_USBH_USE_HUB
+			port->hub,
+#endif
+			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,
+			USBH_REQ_GET_STATUS,
+			0,
+			port->number,
+			4,
+			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {
+		return;
+	}
+	port->status = stat & 0xffff;
+	port->c_status |= stat >> 16;
+}
+
+static void _port_process_status_change(usbh_port_t *port) {
+
+	_port_update_status(port);
+
+	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {
+		/* port connected status changed */
+		port->c_status &= ~USBH_PORTSTATUS_C_CONNECTION;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_CONNECTION);
+		if ((port->status & (USBH_PORTSTATUS_CONNECTION | USBH_PORTSTATUS_ENABLE))
+				== USBH_PORTSTATUS_CONNECTION) {
+			if (port->device.status != USBH_DEVSTATUS_DISCONNECTED) {
+				_usbh_port_disconnected(port);
+			}
+
+			/* connected, disabled */
+			_port_connected(port);
+		} else {
+			/* disconnected */
+			_usbh_port_disconnected(port);
+		}
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_RESET) {
+		port->c_status &= ~USBH_PORTSTATUS_C_RESET;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_ENABLE) {
+		port->c_status &= ~USBH_PORTSTATUS_C_ENABLE;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_ENABLE);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_OVERCURRENT) {
+		port->c_status &= ~USBH_PORTSTATUS_C_OVERCURRENT;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_OVERCURRENT);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_SUSPEND) {
+		port->c_status &= ~USBH_PORTSTATUS_C_SUSPEND;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_SUSPEND);
+	}
+
+}
+
+
+static void _port_connected(usbh_port_t *port) {
+	/* connected */
+
+	systime_t start;
+	uint8_t i;
+	uint8_t retries;
+	usbh_devspeed_t speed;
+	USBH_DEFINE_BUFFER(usbh_string_descriptor_t, strdesc);
+
+	uinfof("Port %d connected, wait debounce...", port->number);
+
+	port->device.status = USBH_DEVSTATUS_ATTACHED;
+
+	/* wait for attach de-bounce */
+	osalThreadSleepMilliseconds(HAL_USBH_PORT_DEBOUNCE_TIME);
+
+	/* check disconnection */
+	_port_update_status(port);
+	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {
+		/* connection state changed; abort */
+		goto abort;
+	}
+
+	port->device.status = USBH_DEVSTATUS_CONNECTED;
+	retries = 3;
+
+reset:
+	for (i = 0; i < 3; i++) {
+		uinfo("Try reset...");
+		port->c_status &= ~(USBH_PORTSTATUS_C_RESET | USBH_PORTSTATUS_C_ENABLE);
+		_port_reset(port);
+		osalThreadSleepMilliseconds(20);	/* give it some time to reset (min. 10ms) */
+		start = osalOsGetSystemTimeX();
+		while (TRUE) {
+			_port_update_status(port);
+
+			/* check for disconnection */
+			if (port->c_status & USBH_PORTSTATUS_C_CONNECTION)
+				goto abort;
+
+			/* check for reset completion */
+			if (port->c_status & USBH_PORTSTATUS_C_RESET) {
+				port->c_status &= ~USBH_PORTSTATUS_C_RESET;
+				usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);
+
+				if ((port->status & (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION))
+						== (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION)) {
+					goto reset_success;
+				}
+			}
+
+			/* check for timeout */
+			if (osalOsGetSystemTimeX() - start > HAL_USBH_PORT_RESET_TIMEOUT) break;
+		}
+	}
+
+	/* reset procedure failed; abort */
+	goto abort;
+
+reset_success:
+
+	uinfo("Reset OK, recovery...");
+
+	/* reset recovery */
+	osalThreadSleepMilliseconds(100);
+
+	/* initialize object */
+	if (port->status & USBH_PORTSTATUS_LOW_SPEED) {
+		speed = USBH_DEVSPEED_LOW;
+	} else if (port->status & USBH_PORTSTATUS_HIGH_SPEED) {
+		speed = USBH_DEVSPEED_HIGH;
+	} else {
+		speed = USBH_DEVSPEED_FULL;
+	}
+	_device_initialize(&port->device, speed);
+	usbhEPOpen(&port->device.ctrl);
+
+	/* device with default address (0), try enumeration */
+	if (_device_enumerate(&port->device)) {
+		/* enumeration failed */
+		usbhEPClose(&port->device.ctrl);
+
+		if (!--retries)
+			goto abort;
+
+		/* retry reset & enumeration */
+		goto reset;
+	}
+
+	/* load the default language ID */
+	uinfo("Loading langID0...");
+	if (!usbhStdReqGetStringDescriptor(&port->device, 0, 0,
+			USBH_DT_STRING_SIZE, (uint8_t *)&strdesc)
+		&& (strdesc.bLength >= 4)
+		&& !usbhStdReqGetStringDescriptor(&port->device, 0, 0,
+			4, (uint8_t *)&strdesc)) {
+
+		port->device.langID0 = strdesc.wData[0];
+		uinfof("langID0=%04x", port->device.langID0);
+	}
+
+	/* check if the device has only one configuration */
+	if (port->device.devDesc.bNumConfigurations == 1) {
+		uinfo("Device has only one configuration");
+		_device_configure(&port->device, 0);
+	}
+
+	_classdriver_process_device(&port->device);
+	return;
+
+abort:
+	uerr("Abort");
+	port->device.status = USBH_DEVSTATUS_DISCONNECTED;
+}
+
+void _usbh_port_disconnected(usbh_port_t *port) {
+	if (port->device.status == USBH_DEVSTATUS_DISCONNECTED)
+		return;
+
+	uinfo("Port disconnected");
+
+	/* unload drivers */
+	while (port->device.drivers) {
+		usbh_baseclassdriver_t *drv = port->device.drivers;
+
+		/* unload */
+		uinfof("Unload driver %s", drv->info->name);
+		drv->info->vmt->unload(drv);
+
+		/* unlink */
+		drv->dev = 0;
+		port->device.drivers = drv->next;
+	}
+
+	/* close control endpoint */
+	osalSysLock();
+	usbhEPCloseS(&port->device.ctrl);
+	osalSysUnlock();
+
+	/* free address */
+	if (port->device.address)
+		_free_address(port->device.host, port->device.address);
+
+	_device_free_full_cfgdesc(&port->device);
+
+	port->device.status = USBH_DEVSTATUS_DISCONNECTED;
+}
+
+
+
+/*===========================================================================*/
+/* Hub processing functions.  	                                     		 */
+/*===========================================================================*/
+
+#if HAL_USBH_USE_HUB
+static void _hub_update_status(USBHDriver *host, USBHHubDriver *hub) {
+	uint32_t stat;
+	if (usbhhubControlRequest(host,
+			hub,
+			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_DEVICE,
+			USBH_REQ_GET_STATUS,
+			0,
+			0,
+			4,
+			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {
+		return;
+	}
+	if (hub) {
+		hub->status = stat & 0xffff;
+		hub->c_status |= stat >> 16;
+	}
+}
+
+static void _hub_process_status_change(USBHDriver *host, USBHHubDriver *hub) {
+	uinfo("Hub status change. GET_STATUS.");
+	_hub_update_status(host, hub);
+
+	if (hub->c_status & USBH_HUBSTATUS_C_HUB_LOCAL_POWER) {
+		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_LOCAL_POWER;
+		uinfo("Clear USBH_HUB_FEAT_C_HUB_LOCAL_POWER");
+		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_LOCAL_POWER);
+	}
+
+	if (hub->c_status & USBH_HUBSTATUS_C_HUB_OVER_CURRENT) {
+		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_OVER_CURRENT;
+		uinfo("Clear USBH_HUB_FEAT_C_HUB_OVER_CURRENT");
+		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_OVER_CURRENT);
+	}
+}
+
+static uint32_t _hub_get_status_change_bitmap(USBHDriver *host, USBHHubDriver *hub) {
+	if (hub != NULL) {
+		osalSysLock();
+		uint32_t ret = hub->statuschange;
+		hub->statuschange = 0;
+		osalOsRescheduleS();
+		osalSysUnlock();
+		return ret;
+	}
+	return usbh_lld_roothub_get_statuschange_bitmap(host);
+}
+
+#else
+//TODO: replace the functions above
+#endif
+
+#if HAL_USBH_USE_HUB
+static void _hub_process(USBHDriver *host, USBHHubDriver *hub) {
+	uint32_t bitmap = _hub_get_status_change_bitmap(host, hub);
+	if (!bitmap)
+		return;
+
+	if (bitmap & 1) {
+		_hub_process_status_change(host, hub);
+		bitmap &= ~1;
+	}
+
+	usbh_port_t *port = (hub == NULL) ? &host->rootport : hub->ports;
+	uint8_t i;
+	for (i = 1; i < 32; i++) {
+		if (!bitmap || !port)
+			break;
+		if (bitmap & (1 << i)) {
+			bitmap &= ~(1 << i);
+			_port_process_status_change(port);
+		}
+		port = port->next;
+	}
+
+}
+#else
+static void _hub_process(USBHDriver *host) {
+	uint32_t bitmap = usbh_lld_roothub_get_statuschange_bitmap(host);
+
+#if 0	//TODO: complete _hub_process_status_change for root hub
+	if (bitmap & 1) {
+		_hub_process_status_change(host, hub);
+		bitmap &= ~1;
+	}
+#endif
+
+	if (!bitmap)
+		return;
+
+	_port_process_status_change(&host->rootport);
+}
+#endif
+
+/*===========================================================================*/
+/* Main processing loop (enumeration, loading/unloading drivers, etc). 		 */
+/*===========================================================================*/
+void usbhMainLoop(USBHDriver *usbh) {
+
+	if (usbh->status == USBH_STATUS_STOPPED)
+		return;
+
+#if HAL_USBH_USE_HUB
+	/* process root hub */
+	_hub_process(usbh, NULL);
+
+	/* process connected hubs */
+	USBHHubDriver *hub;
+    list_for_each_entry(hub, USBHHubDriver, &usbh->hubs, node) {
+		_hub_process(usbh, hub);
+	}
+#else
+	/* process root hub */
+	_hub_process(usbh);
+#endif
+}
+
+
+/*===========================================================================*/
+/* IAD class driver.											 		 	 */
+/*===========================================================================*/
+#if HAL_USBH_USE_IAD
+static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
+static void iad_unload(usbh_baseclassdriver_t *drv);
+static const usbh_classdriver_vmt_t usbhiadClassDriverVMT = {
+	iad_load,
+	iad_unload
+};
+static const usbh_classdriverinfo_t usbhiadClassDriverInfo = {
+	0xef, 0x02, 0x01, "IAD", &usbhiadClassDriverVMT
+};
+
+static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev,
+		const uint8_t *descriptor, uint16_t rem) {
+	(void)rem;
+
+	if (descriptor[1] != USBH_DT_DEVICE)
+		return 0;
+
+	uinfo("Load a driver for each IF collection.");
+
+	generic_iterator_t icfg;
+	if_iterator_t iif;
+	const usbh_ia_descriptor_t *last_iad = 0;
+
+	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,
+			dev->basicConfigDesc.wTotalLength);
+	if (!icfg.valid) {
+		uerr("Invalid configuration descriptor.");
+		return 0;
+	}
+
+	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+		if (iif.iad && (iif.iad != last_iad)) {
+			last_iad = iif.iad;
+			if (_classdriver_load(dev, iif.iad->bFunctionClass,
+					iif.iad->bFunctionSubClass,
+					iif.iad->bFunctionProtocol,
+					(uint8_t *)iif.iad,
+					(uint8_t *)iif.curr - (uint8_t *)iif.iad + iif.rem) != HAL_SUCCESS) {
+				uwarnf("No drivers found for IF collection #%d:%d",
+						iif.iad->bFirstInterface,
+						iif.iad->bFirstInterface + iif.iad->bInterfaceCount - 1);
+			}
+		}
+	}
+
+	return 0;
+}
+
+static void iad_unload(usbh_baseclassdriver_t *drv) {
+	(void)drv;
+}
+#endif
+
+
+/*===========================================================================*/
+/* Class driver loader.											 		 	 */
+/*===========================================================================*/
+
+static const usbh_classdriverinfo_t *usbh_classdrivers_lookup[] = {
+#if HAL_USBH_USE_FTDI
+	&usbhftdiClassDriverInfo,
+#endif
+#if HAL_USBH_USE_IAD
+	&usbhiadClassDriverInfo,
+#endif
+#if HAL_USBH_USE_UVC
+	&usbhuvcClassDriverInfo,
+#endif
+#if HAL_USBH_USE_MSD
+	&usbhmsdClassDriverInfo,
+#endif
+#if HAL_USBH_USE_HUB
+	&usbhhubClassDriverInfo
+#endif
+};
+
+static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
+		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem) {
+	uint8_t i;
+	usbh_baseclassdriver_t *drv = NULL;
+	for (i = 0; i < sizeof_array(usbh_classdrivers_lookup); i++) {
+		const usbh_classdriverinfo_t *const info = usbh_classdrivers_lookup[i];
+		if (class == 0xff) {
+			/* vendor specific */
+			if (info->class == 0xff) {
+				uinfof("Try load vendor-specific driver %s", info->name);
+				drv = info->vmt->load(dev, descbuff, rem);
+				if (drv != NULL)
+					goto success;
+			}
+		} else if ((info->class < 0) || ((info->class == class)
+			&& ((info->subclass < 0) || ((info->subclass == subclass)
+			&& ((info->protocol < 0) || (info->protocol == protocol)))))) {
+			uinfof("Try load driver %s", info->name);
+			drv = info->vmt->load(dev, descbuff, rem);
+
+#if HAL_USBH_USE_IAD
+			/* special case: */
+			if (info == &usbhiadClassDriverInfo)
+				return HAL_SUCCESS;
+#endif
+
+			if (drv != NULL)
+				goto success;
+		}
+	}
+	return HAL_FAILED;
+
+success:
+	/* Link this driver to the device */
+	drv->next = dev->drivers;
+	dev->drivers = drv;
+	drv->dev = dev;
+	return HAL_SUCCESS;
+}
+
+static void _classdriver_process_device(usbh_device_t *dev) {
+	uinfo("New device found.");
+	const usbh_device_descriptor_t *const devdesc = &dev->devDesc;
+
+	usbhDevicePrintInfo(dev);
+
+	/* TODO: Support multiple configurations
+	 *
+	 * Windows doesn't support them, so it's unlikely that any commercial USB device
+	 * will have multiple configurations.
+	 */
+	if (dev->status != USBH_DEVSTATUS_CONFIGURED) {
+		uwarn("Multiple configurations not supported, selecting configuration #0");
+		if (_device_configure(dev, 0) != HAL_SUCCESS) {
+			uerr("Couldn't configure device; abort.");
+			return;
+		}
+	}
+
+	_device_read_full_cfgdesc(dev, dev->bConfiguration);
+	if (dev->fullConfigurationDescriptor == NULL) {
+		uerr("Couldn't read full configuration descriptor; abort.");
+		return;
+	}
+
+	usbhDevicePrintConfiguration(dev->fullConfigurationDescriptor,
+			dev->basicConfigDesc.wTotalLength);
+
+	if (devdesc->bDeviceClass == 0) {
+		/* each interface defines its own device class/subclass/protocol */
+		uinfo("Load a driver for each IF.");
+
+		generic_iterator_t icfg;
+		if_iterator_t iif;
+		uint8_t last_if = 0xff;
+
+		cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,
+				dev->basicConfigDesc.wTotalLength);
+		if (!icfg.valid) {
+			uerr("Invalid configuration descriptor.");
+			goto exit;
+		}
+
+		for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+			const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+			if (ifdesc->bInterfaceNumber != last_if) {
+				last_if = ifdesc->bInterfaceNumber;
+				if (_classdriver_load(dev, ifdesc->bInterfaceClass,
+						ifdesc->bInterfaceSubClass,
+						ifdesc->bInterfaceProtocol,
+						(uint8_t *)ifdesc, iif.rem) != HAL_SUCCESS) {
+					uwarnf("No drivers found for IF #%d", ifdesc->bInterfaceNumber);
+				}
+			}
+		}
+
+	} else {
+		if (_classdriver_load(dev, devdesc->bDeviceClass,
+				devdesc->bDeviceSubClass,
+				devdesc->bDeviceProtocol,
+				(uint8_t *)devdesc, USBH_DT_DEVICE_SIZE) != HAL_SUCCESS) {
+			uwarn("No drivers found.");
+		}
+	}
+
+exit:
+	if (dev->keepFullCfgDesc == 0) {
+		_device_free_full_cfgdesc(dev);
+	}
+}
+
+
+#endif
+
diff --git a/os/hal/src/usbh/usbh_debug.c b/os/hal/src/usbh/hal_usbh_debug.c
index 63505aa..9f17189 100644
--- a/os/hal/src/usbh/usbh_debug.c
+++ b/os/hal/src/usbh/hal_usbh_debug.c
@@ -1,536 +1,536 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-

-#if HAL_USE_USBH

-

-#include "ch.h"

-#include "usbh/debug.h"

-#include <stdarg.h>

-#include "chprintf.h"

-

-#if USBH_DEBUG_ENABLE

-

-#define MAX_FILLER 11

-#define FLOAT_PRECISION 9

-#define MPRINTF_USE_FLOAT 0

-

-static char *long_to_string_with_divisor(char *p, long num, unsigned radix, long divisor) 

-{

-	int i;

-	char *q;

-	long l, ll;

-

-	l = num;

-	if (divisor == 0) {

-		ll = num;

-	} else {

-		ll = divisor;

-	}

-

-	q = p + MAX_FILLER;

-	do {

-		i = (int)(l % radix);

-		i += '0';

-		if (i > '9') {

-			i += 'A' - '0' - 10;

-		}

-		*--q = i;

-		l /= radix;

-	} while ((ll /= radix) != 0);

-

-	i = (int)(p + MAX_FILLER - q);

-	do {

-		*p++ = *q++;

-	} while (--i);

-

-	return p;

-}

-

-static char *ltoa(char *p, long num, unsigned radix) {

-

-	return long_to_string_with_divisor(p, num, radix, 0);

-}

-

-#if MPRINTF_USE_FLOAT

-static const long _pow10[FLOAT_PRECISION] = {10, 100, 1000, 10000, 100000, 1000000,

-	10000000, 100000000, 1000000000};

-static const double m10[FLOAT_PRECISION] = {5.0/100, 5.0/1000, 5.0/10000, 5.0/100000, 5.0/1000000,

-	5.0/10000000, 5.0/100000000, 5.0/1000000000, 5.0/10000000000};

-

-static char *ftoa(char *p, double num, unsigned long precision, bool dot) {

-	long l;

-	char *q;

-	double r;

-

-

-	if (precision == 0) {

-		l = (long)(num + 0.5);

-		return long_to_string_with_divisor(p, l, 10, 0);

-	} else {

-		if (precision > FLOAT_PRECISION) precision = FLOAT_PRECISION;

-		r = m10[precision - 1];

-		precision = _pow10[precision - 1];

-

-		l = (long)num;

-		p = long_to_string_with_divisor(p, l, 10, 0);

-		if (dot) *p++ = '.';

-		l = (long)((num - l + r) * precision);

-		q = long_to_string_with_divisor(p, l, 10, precision / 10) - 1;

-

-		while (q > p) {

-			if (*q != '0') {

-				break;

-			}

-			--q;

-		}

-		return ++q;

-	}

-

-	

-

-

-}

-#endif

-

-static inline void _put(char c) {

-	input_queue_t *iqp = &USBH_DEBUG_USBHD.iq;

-

-	if (chIQIsFullI(iqp))

-		return;

-

-	iqp->q_counter++;

-	*iqp->q_wrptr++ = c;

-	if (iqp->q_wrptr >= iqp->q_top)

-		iqp->q_wrptr = iqp->q_buffer;

-

-}

-

-int _dbg_printf(const char *fmt, va_list ap) {

-	char *p, *s, c, filler;

-	int i, precision, width;

-	int n = 0;

-	bool is_long, left_align, sign;

-	long l;

-#if MPRINTF_USE_FLOAT

-	double f;

-	char tmpbuf[2*MAX_FILLER + 1];

-#else

-	char tmpbuf[MAX_FILLER + 1];

-#endif

-

-	for (;;) {

-

-		//agarrar nuevo caracter de formato

-		c = *fmt++;

-

-		//chequeo eos

-		if (c == 0) return n;

-

-		//copio los caracteres comunes

-		if (c != '%') {

-			_put(c);

-			n++;

-			continue;

-		}

-

-		//encontré un '%'

-		p = tmpbuf;

-		s = tmpbuf;

-

-		//left align

-		left_align = FALSE;

-		if (*fmt == '-') {

-			fmt++;

-			left_align = TRUE;

-		}

-		

-		sign = FALSE;

-		if (*fmt == '+') {

-			fmt++;

-			sign = TRUE;

-		}

-

-		//filler

-		filler = ' ';

-		if (*fmt == '0') {

-			fmt++;

-			filler = '0';

-		}

-

-		//width

-		width = 0;

-		while (TRUE) {

-			c = *fmt++;

-			if (c >= '0' && c <= '9')

-				c -= '0';

-			else if (c == '*')

-				c = va_arg(ap, int);

-			else

-				break;

-			width = width * 10 + c;

-		}

-

-		//precision

-		precision = 0;

-		if (c == '.') {

-

-			if (*fmt == 'n') {

-				fmt++;

-

-			}

-			while (TRUE) {

-				c = *fmt++;

-				if (c >= '0' && c <= '9')

-					c -= '0';

-				else if (c == '*')

-					c = va_arg(ap, int);

-				else

-					break;

-				precision = precision * 10 + c;

-			}

-		}

-

-		//long modifier

-		if (c == 'l' || c == 'L') {

-			is_long = TRUE;

-			if (*fmt)

-				c = *fmt++;

-		}

-		else

-			is_long = (c >= 'A') && (c <= 'Z');

-

-		/* Command decoding.*/

-		switch (c) {

-		//char

-		case 'c':

-			filler = ' ';

-			*p++ = va_arg(ap, int);

-			break;

-

-		//string

-		case 's':

-			filler = ' ';

-			if ((s = va_arg(ap, char *)) == 0)

-				s = (char *)"(null)";

-			if (precision == 0)

-				precision = 32767;

-

-			//strlen con límite hasta precision

-			for (p = s; *p && (--precision >= 0); p++)

-				;

-			break;

-

-

-

-		case 'D':

-		case 'd':

-		case 'I':

-		case 'i':

-			if (is_long)

-				l = va_arg(ap, long);

-			else

-				l = va_arg(ap, int);

-			if (l < 0) {

-				*p++ = '-';

-				l = -l;

-				sign = TRUE;

-			} else if (sign) {

-				*p++ = '+';

-			}

-			p = ltoa(p, l, 10);

-			break;

-

-#if MPRINTF_USE_FLOAT

-		case 'f':

-			f = va_arg(ap, double);

-			if (f < 0) {

-				*p++ = '-';

-				f = -f;

-				sign = TRUE;

-			} else if (sign) {

-				*p++ = '+';

-			}

-			if (prec == FALSE) precision = 6;

-			p = ftoa(p, f, precision, dot);

-			break;

-#endif

-

-

-		case 'X':

-		case 'x':

-			c = 16;

-			goto unsigned_common;

-		case 'U':

-		case 'u':

-			c = 10;

-			goto unsigned_common;

-		case 'O':

-		case 'o':

-			c = 8;

-

-unsigned_common:

-			if (is_long)

-				l = va_arg(ap, unsigned long);

-			else

-				l = va_arg(ap, unsigned int);

-			p = ltoa(p, l, c);

-			break;

-

-		//copiar

-		default:

-			*p++ = c;

-			break;

-		}

-

-		//longitud

-		i = (int)(p - s);

-

-		//calculo cuántos caracteres de filler debo poner

-		if ((width -= i) < 0)

-			width = 0;

-

-		if (left_align == FALSE)

-			width = -width;

-

-		if (width < 0) {

-			//alineado a la derecha

-

-			//poner el signo adelante

-			if (sign && filler == '0') {

-				_put(*s++);

-				n++;

-				i--;

-			}

-

-			//fill a la izquierda

-			do {

-				_put(filler);

-				n++;

-			} while (++width != 0);

-		}

-

-		//copiar los caracteres

-		while (--i >= 0) {

-			_put(*s++);

-			n++;

-		}

-

-		//fill a la derecha

-		while (width) {

-			_put(filler);

-			n++;

-			width--;

-		}

-	}

-

-	//return n; // can raise 'code is unreachable' warning

-

-}

-

-static void _print_hdr(void)

-{

-	uint32_t hfnum = USBH_DEBUG_USBHD.otg->HFNUM;

-	uint16_t hfir = USBH_DEBUG_USBHD.otg->HFIR;

-

-	_put(0xff);

-	_put(0xff);

-	_put(hfir & 0xff);

-	_put(hfir >> 8);

-	_put(hfnum & 0xff);

-	_put((hfnum >> 8) & 0xff);

-	_put((hfnum >> 16) & 0xff);

-	_put((hfnum >> 24) & 0xff);

-}

-

-void usbDbgPrintf(const char *fmt, ...)

-{

-	va_list ap;

-	va_start(ap, fmt);

-	syssts_t sts = chSysGetStatusAndLockX();

-	_print_hdr();

-	_dbg_printf(fmt, ap);

-	_put(0);

-	chThdDequeueNextI(&USBH_DEBUG_USBHD.iq.q_waiting, Q_OK);

-	chSysRestoreStatusX(sts);

-	va_end(ap);

-}

-

-

-void usbDbgPuts(const char *s)

-{

-	uint32_t buff[2] = {

-		0xffff | (USBH_DEBUG_USBHD.otg->HFIR << 16),

-		USBH_DEBUG_USBHD.otg->HFNUM

-	};

-	uint8_t *p = (uint8_t *)buff;

-	uint8_t *top = p + 8;

-

-	syssts_t sts = chSysGetStatusAndLockX();

-	input_queue_t *iqp = &USBH_DEBUG_USBHD.iq;

-	int rem = sizeof(USBH_DEBUG_USBHD.dbg_buff) - iqp->q_counter;

-	while (rem) {

-		*iqp->q_wrptr++ = *p;

-		if (iqp->q_wrptr >= iqp->q_top)

-			iqp->q_wrptr = iqp->q_buffer;

-		rem--;

-		if (++p == top) break;

-	}

-	while (rem) {

-		*iqp->q_wrptr++ = *s;

-		if (iqp->q_wrptr >= iqp->q_top)

-			iqp->q_wrptr = iqp->q_buffer;

-		rem--;

-		if (!*s++) break;

-	}

-	iqp->q_counter = sizeof(USBH_DEBUG_USBHD.dbg_buff) - rem;

-	chThdDequeueNextI(&USBH_DEBUG_USBHD.iq.q_waiting, Q_OK);

-	chSysRestoreStatusX(sts);

-}

-

-void usbDbgReset(void) {

-	const char *msg = "\r\n\r\n==== DEBUG OUTPUT RESET ====\r\n";

-

-	syssts_t sts = chSysGetStatusAndLockX();

-	chIQResetI(&USBH_DEBUG_USBHD.iq);

-	chOQResetI(&USBH_DEBUG_SD.oqueue);

-	while (*msg) {

-		*USBH_DEBUG_SD.oqueue.q_wrptr++ = *msg++;

-		USBH_DEBUG_SD.oqueue.q_counter--;

-	}

-	chSysRestoreStatusX(sts);

-}

-

-static int _get(void) {

-	if (!USBH_DEBUG_USBHD.iq.q_counter) return -1;

-	USBH_DEBUG_USBHD.iq.q_counter--;

-	uint8_t b = *USBH_DEBUG_USBHD.iq.q_rdptr++;

-	if (USBH_DEBUG_USBHD.iq.q_rdptr >= USBH_DEBUG_USBHD.iq.q_top) {

-		USBH_DEBUG_USBHD.iq.q_rdptr = USBH_DEBUG_USBHD.iq.q_buffer;

-	}

-	return b;

-}

-

-void usbDbgSystemHalted(void) {

-	while (true) {

-		if (!((bool)((USBH_DEBUG_SD.oqueue.q_wrptr == USBH_DEBUG_SD.oqueue.q_rdptr) && (USBH_DEBUG_SD.oqueue.q_counter != 0U))))

-			break;

-		USBH_DEBUG_SD.oqueue.q_counter++;

-		while (!(USART1->SR & USART_SR_TXE));

-		USART1->DR = *USBH_DEBUG_SD.oqueue.q_rdptr++;

-		if (USBH_DEBUG_SD.oqueue.q_rdptr >= USBH_DEBUG_SD.oqueue.q_top) {

-			USBH_DEBUG_SD.oqueue.q_rdptr = USBH_DEBUG_SD.oqueue.q_buffer;

-		}

-	}

-

-	int c;

-	int state = 0;

-	for (;;) {

-		c = _get(); if (c < 0) break;

-

-		if (state == 0) {

-			if (c == 0xff) state = 1;

-		} else if (state == 1) {

-			if (c == 0xff) state = 2;

-			else (state = 0);

-		} else {

-			c = _get(); if (c < 0) return;

-			c = _get(); if (c < 0) return;

-			c = _get(); if (c < 0) return;

-			c = _get(); if (c < 0) return;

-			c = _get(); if (c < 0) return;

-

-			while (true) {

-				c = _get(); if (c < 0) return;

-				if (!c) {

-					while (!(USART1->SR & USART_SR_TXE));

-					USART1->DR = '\r';

-					while (!(USART1->SR & USART_SR_TXE));

-					USART1->DR = '\n';

-					state = 0;

-					break;

-				}

-				while (!(USART1->SR & USART_SR_TXE));

-				USART1->DR = c;

-			}

-		}

-	}

-}

-

-static void usb_debug_thread(void *p) {

-	USBHDriver *host = (USBHDriver *)p;

-	uint8_t state = 0;

-

-	chRegSetThreadName("USBH_DBG");

-	while (true) {

-		msg_t c = chIQGet(&host->iq);

-		if (c < 0) goto reset;

-

-		if (state == 0) {

-			if (c == 0xff) state = 1;

-		} else if (state == 1) {

-			if (c == 0xff) state = 2;

-			else (state = 0);

-		} else {

-			uint16_t hfir;

-			uint32_t hfnum;

-

-			hfir = c;

-			c = chIQGet(&host->iq); if (c < 0) goto reset;

-			hfir |= c << 8;

-

-			c = chIQGet(&host->iq); if (c < 0) goto reset;

-			hfnum = c;

-			c = chIQGet(&host->iq); if (c < 0) goto reset;

-			hfnum |= c << 8;

-			c = chIQGet(&host->iq); if (c < 0) goto reset;

-			hfnum |= c << 16;

-			c = chIQGet(&host->iq); if (c < 0) goto reset;

-			hfnum |= c << 24;

-

-			uint32_t f = hfnum & 0xffff;

-			uint32_t p = 1000 - ((hfnum >> 16) / (hfir / 1000));

-			chprintf((BaseSequentialStream *)&USBH_DEBUG_SD, "%05d.%03d  ", f, p);

-

-			while (true) {

-				c = chIQGet(&host->iq); if (c < 0) goto reset;

-				if (!c) {

-					sdPut(&USBH_DEBUG_SD, '\r');

-					sdPut(&USBH_DEBUG_SD, '\n');

-					state = 0;

-					break;

-				}

-				sdPut(&USBH_DEBUG_SD, (uint8_t)c);

-			}

-		}

-

-		continue;

-reset:

-		state = 0;

-	}

-}

-

-void usbDbgInit(USBHDriver *host) {

-	if (host != &USBH_DEBUG_USBHD)

-		return;

-	chIQObjectInit(&USBH_DEBUG_USBHD.iq, USBH_DEBUG_USBHD.dbg_buff, sizeof(USBH_DEBUG_USBHD.dbg_buff), 0, 0);

-	chThdCreateStatic(USBH_DEBUG_USBHD.waDebug, sizeof(USBH_DEBUG_USBHD.waDebug), NORMALPRIO, usb_debug_thread, &USBH_DEBUG_USBHD);

-}

-#endif

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+
+#include "ch.h"
+#include "usbh/debug.h"
+#include <stdarg.h>
+#include "chprintf.h"
+
+#if USBH_DEBUG_ENABLE
+
+#define MAX_FILLER 11
+#define FLOAT_PRECISION 9
+#define MPRINTF_USE_FLOAT 0
+
+static char *long_to_string_with_divisor(char *p, long num, unsigned radix, long divisor) 
+{
+	int i;
+	char *q;
+	long l, ll;
+
+	l = num;
+	if (divisor == 0) {
+		ll = num;
+	} else {
+		ll = divisor;
+	}
+
+	q = p + MAX_FILLER;
+	do {
+		i = (int)(l % radix);
+		i += '0';
+		if (i > '9') {
+			i += 'A' - '0' - 10;
+		}
+		*--q = i;
+		l /= radix;
+	} while ((ll /= radix) != 0);
+
+	i = (int)(p + MAX_FILLER - q);
+	do {
+		*p++ = *q++;
+	} while (--i);
+
+	return p;
+}
+
+static char *ltoa(char *p, long num, unsigned radix) {
+
+	return long_to_string_with_divisor(p, num, radix, 0);
+}
+
+#if MPRINTF_USE_FLOAT
+static const long _pow10[FLOAT_PRECISION] = {10, 100, 1000, 10000, 100000, 1000000,
+	10000000, 100000000, 1000000000};
+static const double m10[FLOAT_PRECISION] = {5.0/100, 5.0/1000, 5.0/10000, 5.0/100000, 5.0/1000000,
+	5.0/10000000, 5.0/100000000, 5.0/1000000000, 5.0/10000000000};
+
+static char *ftoa(char *p, double num, unsigned long precision, bool dot) {
+	long l;
+	char *q;
+	double r;
+
+
+	if (precision == 0) {
+		l = (long)(num + 0.5);
+		return long_to_string_with_divisor(p, l, 10, 0);
+	} else {
+		if (precision > FLOAT_PRECISION) precision = FLOAT_PRECISION;
+		r = m10[precision - 1];
+		precision = _pow10[precision - 1];
+
+		l = (long)num;
+		p = long_to_string_with_divisor(p, l, 10, 0);
+		if (dot) *p++ = '.';
+		l = (long)((num - l + r) * precision);
+		q = long_to_string_with_divisor(p, l, 10, precision / 10) - 1;
+
+		while (q > p) {
+			if (*q != '0') {
+				break;
+			}
+			--q;
+		}
+		return ++q;
+	}
+
+	
+
+
+}
+#endif
+
+static inline void _put(char c) {
+	input_queue_t *iqp = &USBH_DEBUG_USBHD.iq;
+
+	if (chIQIsFullI(iqp))
+		return;
+
+	iqp->q_counter++;
+	*iqp->q_wrptr++ = c;
+	if (iqp->q_wrptr >= iqp->q_top)
+		iqp->q_wrptr = iqp->q_buffer;
+
+}
+
+int _dbg_printf(const char *fmt, va_list ap) {
+	char *p, *s, c, filler;
+	int i, precision, width;
+	int n = 0;
+	bool is_long, left_align, sign;
+	long l;
+#if MPRINTF_USE_FLOAT
+	double f;
+	char tmpbuf[2*MAX_FILLER + 1];
+#else
+	char tmpbuf[MAX_FILLER + 1];
+#endif
+
+	for (;;) {
+
+		//agarrar nuevo caracter de formato
+		c = *fmt++;
+
+		//chequeo eos
+		if (c == 0) return n;
+
+		//copio los caracteres comunes
+		if (c != '%') {
+			_put(c);
+			n++;
+			continue;
+		}
+
+		//encontré un '%'
+		p = tmpbuf;
+		s = tmpbuf;
+
+		//left align
+		left_align = FALSE;
+		if (*fmt == '-') {
+			fmt++;
+			left_align = TRUE;
+		}
+		
+		sign = FALSE;
+		if (*fmt == '+') {
+			fmt++;
+			sign = TRUE;
+		}
+
+		//filler
+		filler = ' ';
+		if (*fmt == '0') {
+			fmt++;
+			filler = '0';
+		}
+
+		//width
+		width = 0;
+		while (TRUE) {
+			c = *fmt++;
+			if (c >= '0' && c <= '9')
+				c -= '0';
+			else if (c == '*')
+				c = va_arg(ap, int);
+			else
+				break;
+			width = width * 10 + c;
+		}
+
+		//precision
+		precision = 0;
+		if (c == '.') {
+
+			if (*fmt == 'n') {
+				fmt++;
+
+			}
+			while (TRUE) {
+				c = *fmt++;
+				if (c >= '0' && c <= '9')
+					c -= '0';
+				else if (c == '*')
+					c = va_arg(ap, int);
+				else
+					break;
+				precision = precision * 10 + c;
+			}
+		}
+
+		//long modifier
+		if (c == 'l' || c == 'L') {
+			is_long = TRUE;
+			if (*fmt)
+				c = *fmt++;
+		}
+		else
+			is_long = (c >= 'A') && (c <= 'Z');
+
+		/* Command decoding.*/
+		switch (c) {
+		//char
+		case 'c':
+			filler = ' ';
+			*p++ = va_arg(ap, int);
+			break;
+
+		//string
+		case 's':
+			filler = ' ';
+			if ((s = va_arg(ap, char *)) == 0)
+				s = (char *)"(null)";
+			if (precision == 0)
+				precision = 32767;
+
+			//strlen con límite hasta precision
+			for (p = s; *p && (--precision >= 0); p++)
+				;
+			break;
+
+
+
+		case 'D':
+		case 'd':
+		case 'I':
+		case 'i':
+			if (is_long)
+				l = va_arg(ap, long);
+			else
+				l = va_arg(ap, int);
+			if (l < 0) {
+				*p++ = '-';
+				l = -l;
+				sign = TRUE;
+			} else if (sign) {
+				*p++ = '+';
+			}
+			p = ltoa(p, l, 10);
+			break;
+
+#if MPRINTF_USE_FLOAT
+		case 'f':
+			f = va_arg(ap, double);
+			if (f < 0) {
+				*p++ = '-';
+				f = -f;
+				sign = TRUE;
+			} else if (sign) {
+				*p++ = '+';
+			}
+			if (prec == FALSE) precision = 6;
+			p = ftoa(p, f, precision, dot);
+			break;
+#endif
+
+
+		case 'X':
+		case 'x':
+			c = 16;
+			goto unsigned_common;
+		case 'U':
+		case 'u':
+			c = 10;
+			goto unsigned_common;
+		case 'O':
+		case 'o':
+			c = 8;
+
+unsigned_common:
+			if (is_long)
+				l = va_arg(ap, unsigned long);
+			else
+				l = va_arg(ap, unsigned int);
+			p = ltoa(p, l, c);
+			break;
+
+		//copiar
+		default:
+			*p++ = c;
+			break;
+		}
+
+		//longitud
+		i = (int)(p - s);
+
+		//calculo cuántos caracteres de filler debo poner
+		if ((width -= i) < 0)
+			width = 0;
+
+		if (left_align == FALSE)
+			width = -width;
+
+		if (width < 0) {
+			//alineado a la derecha
+
+			//poner el signo adelante
+			if (sign && filler == '0') {
+				_put(*s++);
+				n++;
+				i--;
+			}
+
+			//fill a la izquierda
+			do {
+				_put(filler);
+				n++;
+			} while (++width != 0);
+		}
+
+		//copiar los caracteres
+		while (--i >= 0) {
+			_put(*s++);
+			n++;
+		}
+
+		//fill a la derecha
+		while (width) {
+			_put(filler);
+			n++;
+			width--;
+		}
+	}
+
+	//return n; // can raise 'code is unreachable' warning
+
+}
+
+static void _print_hdr(void)
+{
+	uint32_t hfnum = USBH_DEBUG_USBHD.otg->HFNUM;
+	uint16_t hfir = USBH_DEBUG_USBHD.otg->HFIR;
+
+	_put(0xff);
+	_put(0xff);
+	_put(hfir & 0xff);
+	_put(hfir >> 8);
+	_put(hfnum & 0xff);
+	_put((hfnum >> 8) & 0xff);
+	_put((hfnum >> 16) & 0xff);
+	_put((hfnum >> 24) & 0xff);
+}
+
+void usbDbgPrintf(const char *fmt, ...)
+{
+	va_list ap;
+	va_start(ap, fmt);
+	syssts_t sts = chSysGetStatusAndLockX();
+	_print_hdr();
+	_dbg_printf(fmt, ap);
+	_put(0);
+	chThdDequeueNextI(&USBH_DEBUG_USBHD.iq.q_waiting, Q_OK);
+	chSysRestoreStatusX(sts);
+	va_end(ap);
+}
+
+
+void usbDbgPuts(const char *s)
+{
+	uint32_t buff[2] = {
+		0xffff | (USBH_DEBUG_USBHD.otg->HFIR << 16),
+		USBH_DEBUG_USBHD.otg->HFNUM
+	};
+	uint8_t *p = (uint8_t *)buff;
+	uint8_t *top = p + 8;
+
+	syssts_t sts = chSysGetStatusAndLockX();
+	input_queue_t *iqp = &USBH_DEBUG_USBHD.iq;
+	int rem = sizeof(USBH_DEBUG_USBHD.dbg_buff) - iqp->q_counter;
+	while (rem) {
+		*iqp->q_wrptr++ = *p;
+		if (iqp->q_wrptr >= iqp->q_top)
+			iqp->q_wrptr = iqp->q_buffer;
+		rem--;
+		if (++p == top) break;
+	}
+	while (rem) {
+		*iqp->q_wrptr++ = *s;
+		if (iqp->q_wrptr >= iqp->q_top)
+			iqp->q_wrptr = iqp->q_buffer;
+		rem--;
+		if (!*s++) break;
+	}
+	iqp->q_counter = sizeof(USBH_DEBUG_USBHD.dbg_buff) - rem;
+	chThdDequeueNextI(&USBH_DEBUG_USBHD.iq.q_waiting, Q_OK);
+	chSysRestoreStatusX(sts);
+}
+
+void usbDbgReset(void) {
+	const char *msg = "\r\n\r\n==== DEBUG OUTPUT RESET ====\r\n";
+
+	syssts_t sts = chSysGetStatusAndLockX();
+	chIQResetI(&USBH_DEBUG_USBHD.iq);
+	chOQResetI(&USBH_DEBUG_SD.oqueue);
+	while (*msg) {
+		*USBH_DEBUG_SD.oqueue.q_wrptr++ = *msg++;
+		USBH_DEBUG_SD.oqueue.q_counter--;
+	}
+	chSysRestoreStatusX(sts);
+}
+
+static int _get(void) {
+	if (!USBH_DEBUG_USBHD.iq.q_counter) return -1;
+	USBH_DEBUG_USBHD.iq.q_counter--;
+	uint8_t b = *USBH_DEBUG_USBHD.iq.q_rdptr++;
+	if (USBH_DEBUG_USBHD.iq.q_rdptr >= USBH_DEBUG_USBHD.iq.q_top) {
+		USBH_DEBUG_USBHD.iq.q_rdptr = USBH_DEBUG_USBHD.iq.q_buffer;
+	}
+	return b;
+}
+
+void usbDbgSystemHalted(void) {
+	while (true) {
+		if (!((bool)((USBH_DEBUG_SD.oqueue.q_wrptr == USBH_DEBUG_SD.oqueue.q_rdptr) && (USBH_DEBUG_SD.oqueue.q_counter != 0U))))
+			break;
+		USBH_DEBUG_SD.oqueue.q_counter++;
+		while (!(USART1->SR & USART_SR_TXE));
+		USART1->DR = *USBH_DEBUG_SD.oqueue.q_rdptr++;
+		if (USBH_DEBUG_SD.oqueue.q_rdptr >= USBH_DEBUG_SD.oqueue.q_top) {
+			USBH_DEBUG_SD.oqueue.q_rdptr = USBH_DEBUG_SD.oqueue.q_buffer;
+		}
+	}
+
+	int c;
+	int state = 0;
+	for (;;) {
+		c = _get(); if (c < 0) break;
+
+		if (state == 0) {
+			if (c == 0xff) state = 1;
+		} else if (state == 1) {
+			if (c == 0xff) state = 2;
+			else (state = 0);
+		} else {
+			c = _get(); if (c < 0) return;
+			c = _get(); if (c < 0) return;
+			c = _get(); if (c < 0) return;
+			c = _get(); if (c < 0) return;
+			c = _get(); if (c < 0) return;
+
+			while (true) {
+				c = _get(); if (c < 0) return;
+				if (!c) {
+					while (!(USART1->SR & USART_SR_TXE));
+					USART1->DR = '\r';
+					while (!(USART1->SR & USART_SR_TXE));
+					USART1->DR = '\n';
+					state = 0;
+					break;
+				}
+				while (!(USART1->SR & USART_SR_TXE));
+				USART1->DR = c;
+			}
+		}
+	}
+}
+
+static void usb_debug_thread(void *p) {
+	USBHDriver *host = (USBHDriver *)p;
+	uint8_t state = 0;
+
+	chRegSetThreadName("USBH_DBG");
+	while (true) {
+		msg_t c = chIQGet(&host->iq);
+		if (c < 0) goto reset;
+
+		if (state == 0) {
+			if (c == 0xff) state = 1;
+		} else if (state == 1) {
+			if (c == 0xff) state = 2;
+			else (state = 0);
+		} else {
+			uint16_t hfir;
+			uint32_t hfnum;
+
+			hfir = c;
+			c = chIQGet(&host->iq); if (c < 0) goto reset;
+			hfir |= c << 8;
+
+			c = chIQGet(&host->iq); if (c < 0) goto reset;
+			hfnum = c;
+			c = chIQGet(&host->iq); if (c < 0) goto reset;
+			hfnum |= c << 8;
+			c = chIQGet(&host->iq); if (c < 0) goto reset;
+			hfnum |= c << 16;
+			c = chIQGet(&host->iq); if (c < 0) goto reset;
+			hfnum |= c << 24;
+
+			uint32_t f = hfnum & 0xffff;
+			uint32_t p = 1000 - ((hfnum >> 16) / (hfir / 1000));
+			chprintf((BaseSequentialStream *)&USBH_DEBUG_SD, "%05d.%03d  ", f, p);
+
+			while (true) {
+				c = chIQGet(&host->iq); if (c < 0) goto reset;
+				if (!c) {
+					sdPut(&USBH_DEBUG_SD, '\r');
+					sdPut(&USBH_DEBUG_SD, '\n');
+					state = 0;
+					break;
+				}
+				sdPut(&USBH_DEBUG_SD, (uint8_t)c);
+			}
+		}
+
+		continue;
+reset:
+		state = 0;
+	}
+}
+
+void usbDbgInit(USBHDriver *host) {
+	if (host != &USBH_DEBUG_USBHD)
+		return;
+	chIQObjectInit(&USBH_DEBUG_USBHD.iq, USBH_DEBUG_USBHD.dbg_buff, sizeof(USBH_DEBUG_USBHD.dbg_buff), 0, 0);
+	chThdCreateStatic(USBH_DEBUG_USBHD.waDebug, sizeof(USBH_DEBUG_USBHD.waDebug), NORMALPRIO, usb_debug_thread, &USBH_DEBUG_USBHD);
+}
+#endif
+
+#endif
diff --git a/os/hal/src/usbh/usbh_desciter.c b/os/hal/src/usbh/hal_usbh_desciter.c
index 80e4728..63137d4 100644
--- a/os/hal/src/usbh/usbh_desciter.c
+++ b/os/hal/src/usbh/hal_usbh_desciter.c
@@ -1,165 +1,165 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-

-#if HAL_USE_USBH

-

-#include "usbh/defs.h"

-#include "usbh/desciter.h"

-

-void cfg_iter_init(generic_iterator_t *icfg, const uint8_t *buff, uint16_t rem) {

-	icfg->valid = 0;

-

-	if ((buff[0] < 2) || (rem < 2) || (rem < buff[0])

-			|| (buff[0] < USBH_DT_CONFIG_SIZE)

-			|| (buff[1] != USBH_DT_CONFIG))

-		return;

-

-	if (rem > ((usbh_config_descriptor_t *)buff)->wTotalLength) {

-		rem = ((usbh_config_descriptor_t *)buff)->wTotalLength;

-	}

-

-	icfg->valid = 1;

-	icfg->rem = rem;

-	icfg->curr = buff;

-}

-

-void if_iter_next(if_iterator_t *iif) {

-	const uint8_t *curr = iif->curr;

-	uint16_t rem = iif->rem;

-

-	iif->valid = 0;

-

-	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-		return;

-

-	for (;;) {

-		rem -= curr[0];

-		curr += curr[0];

-

-		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-			return;

-

-		if (curr[1] == USBH_DT_INTERFACE_ASSOCIATION) {

-			if (curr[0] < USBH_DT_INTERFACE_ASSOCIATION_SIZE)

-				return;

-

-			iif->iad = (usbh_ia_descriptor_t *)curr;

-

-		} else if (curr[1] == USBH_DT_INTERFACE) {

-			if (curr[0] < USBH_DT_INTERFACE_SIZE)

-				return;

-

-			if (iif->iad) {

-				if ((curr[2] < iif->iad->bFirstInterface)

-					|| (curr[2] >= (iif->iad->bFirstInterface + iif->iad->bInterfaceCount)))

-					iif->iad = 0;

-			}

-			break;

-		}

-	}

-

-	iif->valid = 1;

-	iif->rem = rem;

-	iif->curr = curr;

-}

-

-void if_iter_init(if_iterator_t *iif, const generic_iterator_t *icfg) {

-	iif->iad = 0;

-	iif->curr = icfg->curr;

-	iif->rem = icfg->rem;

-	if_iter_next(iif);

-}

-

-void ep_iter_next(generic_iterator_t *iep) {

-	const uint8_t *curr = iep->curr;

-	uint16_t rem = iep->rem;

-

-	iep->valid = 0;

-

-	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-		return;

-

-	for (;;) {

-		rem -= curr[0];

-		curr += curr[0];

-

-		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-			return;

-

-		if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)

-				|| (curr[1] == USBH_DT_INTERFACE)

-				|| (curr[1] == USBH_DT_CONFIG)) {

-			return;

-		} else if (curr[1] == USBH_DT_ENDPOINT) {

-			if (curr[0] < USBH_DT_ENDPOINT_SIZE)

-				return;

-

-			break;

-		}

-	}

-

-	iep->valid = 1;

-	iep->rem = rem;

-	iep->curr = curr;

-}

-

-void ep_iter_init(generic_iterator_t *iep, const if_iterator_t *iif) {

-	iep->curr = iif->curr;

-	iep->rem = iif->rem;

-	ep_iter_next(iep);

-}

-

-void cs_iter_next(generic_iterator_t *ics) {

-	const uint8_t *curr = ics->curr;

-	uint16_t rem = ics->rem;

-

-	ics->valid = 0;

-

-	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-		return;

-

-	//for (;;) {

-		rem -= curr[0];

-		curr += curr[0];

-

-		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))

-			return;

-

-		if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)

-				|| (curr[1] == USBH_DT_INTERFACE)

-				|| (curr[1] == USBH_DT_CONFIG)

-				|| (curr[1] == USBH_DT_ENDPOINT)) {

-			return;

-		}

-

-	//	break;

-	//}

-

-	ics->valid = 1;

-	ics->rem = rem;

-	ics->curr = curr;

-}

-

-void cs_iter_init(generic_iterator_t *ics, const generic_iterator_t *iter) {

-	ics->curr = iter->curr;

-	ics->rem = iter->rem;

-	cs_iter_next(ics);

-}

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+
+#include "usbh/defs.h"
+#include "usbh/desciter.h"
+
+void cfg_iter_init(generic_iterator_t *icfg, const uint8_t *buff, uint16_t rem) {
+	icfg->valid = 0;
+
+	if ((buff[0] < 2) || (rem < 2) || (rem < buff[0])
+			|| (buff[0] < USBH_DT_CONFIG_SIZE)
+			|| (buff[1] != USBH_DT_CONFIG))
+		return;
+
+	if (rem > ((usbh_config_descriptor_t *)buff)->wTotalLength) {
+		rem = ((usbh_config_descriptor_t *)buff)->wTotalLength;
+	}
+
+	icfg->valid = 1;
+	icfg->rem = rem;
+	icfg->curr = buff;
+}
+
+void if_iter_next(if_iterator_t *iif) {
+	const uint8_t *curr = iif->curr;
+	uint16_t rem = iif->rem;
+
+	iif->valid = 0;
+
+	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+		return;
+
+	for (;;) {
+		rem -= curr[0];
+		curr += curr[0];
+
+		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+			return;
+
+		if (curr[1] == USBH_DT_INTERFACE_ASSOCIATION) {
+			if (curr[0] < USBH_DT_INTERFACE_ASSOCIATION_SIZE)
+				return;
+
+			iif->iad = (usbh_ia_descriptor_t *)curr;
+
+		} else if (curr[1] == USBH_DT_INTERFACE) {
+			if (curr[0] < USBH_DT_INTERFACE_SIZE)
+				return;
+
+			if (iif->iad) {
+				if ((curr[2] < iif->iad->bFirstInterface)
+					|| (curr[2] >= (iif->iad->bFirstInterface + iif->iad->bInterfaceCount)))
+					iif->iad = 0;
+			}
+			break;
+		}
+	}
+
+	iif->valid = 1;
+	iif->rem = rem;
+	iif->curr = curr;
+}
+
+void if_iter_init(if_iterator_t *iif, const generic_iterator_t *icfg) {
+	iif->iad = 0;
+	iif->curr = icfg->curr;
+	iif->rem = icfg->rem;
+	if_iter_next(iif);
+}
+
+void ep_iter_next(generic_iterator_t *iep) {
+	const uint8_t *curr = iep->curr;
+	uint16_t rem = iep->rem;
+
+	iep->valid = 0;
+
+	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+		return;
+
+	for (;;) {
+		rem -= curr[0];
+		curr += curr[0];
+
+		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+			return;
+
+		if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)
+				|| (curr[1] == USBH_DT_INTERFACE)
+				|| (curr[1] == USBH_DT_CONFIG)) {
+			return;
+		} else if (curr[1] == USBH_DT_ENDPOINT) {
+			if (curr[0] < USBH_DT_ENDPOINT_SIZE)
+				return;
+
+			break;
+		}
+	}
+
+	iep->valid = 1;
+	iep->rem = rem;
+	iep->curr = curr;
+}
+
+void ep_iter_init(generic_iterator_t *iep, const if_iterator_t *iif) {
+	iep->curr = iif->curr;
+	iep->rem = iif->rem;
+	ep_iter_next(iep);
+}
+
+void cs_iter_next(generic_iterator_t *ics) {
+	const uint8_t *curr = ics->curr;
+	uint16_t rem = ics->rem;
+
+	ics->valid = 0;
+
+	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+		return;
+
+	//for (;;) {
+		rem -= curr[0];
+		curr += curr[0];
+
+		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+			return;
+
+		if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)
+				|| (curr[1] == USBH_DT_INTERFACE)
+				|| (curr[1] == USBH_DT_CONFIG)
+				|| (curr[1] == USBH_DT_ENDPOINT)) {
+			return;
+		}
+
+	//	break;
+	//}
+
+	ics->valid = 1;
+	ics->rem = rem;
+	ics->curr = curr;
+}
+
+void cs_iter_init(generic_iterator_t *ics, const generic_iterator_t *iter) {
+	ics->curr = iter->curr;
+	ics->rem = iter->rem;
+	cs_iter_next(ics);
+}
+
+#endif
diff --git a/os/hal/src/usbh/usbh_ftdi.c b/os/hal/src/usbh/hal_usbh_ftdi.c
index cdf3410..4bd7296 100644
--- a/os/hal/src/usbh/usbh_ftdi.c
+++ b/os/hal/src/usbh/hal_usbh_ftdi.c
@@ -1,717 +1,717 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-#include "usbh.h"

-

-#if HAL_USBH_USE_FTDI

-

-#if !HAL_USE_USBH

-#error "USBHFTDI needs USBH"

-#endif

-

-#include <string.h>

-#include "usbh/dev/ftdi.h"

-#include "usbh/internal.h"

-

-//#pragma GCC optimize("Og")

-

-

-#if USBHFTDI_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBHFTDI_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBHFTDI_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBHFTDI_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-

-/*===========================================================================*/

-/* USB Class driver loader for FTDI								 		 	 */

-/*===========================================================================*/

-USBHFTDIDriver USBHFTDID[HAL_USBHFTDI_MAX_INSTANCES];

-

-static usbh_baseclassdriver_t *_ftdi_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);

-static void _ftdi_unload(usbh_baseclassdriver_t *drv);

-

-static const usbh_classdriver_vmt_t class_driver_vmt = {

-	_ftdi_load,

-	_ftdi_unload

-};

-

-const usbh_classdriverinfo_t usbhftdiClassDriverInfo = {

-	0xff, 0xff, 0xff, "FTDI", &class_driver_vmt

-};

-

-static USBHFTDIPortDriver *_find_port(void) {

-	uint8_t i;

-	for (i = 0; i < HAL_USBHFTDI_MAX_PORTS; i++) {

-		if (FTDIPD[i].ftdip == NULL)

-			return &FTDIPD[i];

-	}

-	return NULL;

-}

-

-static usbh_baseclassdriver_t *_ftdi_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {

-	int i;

-	USBHFTDIDriver *ftdip;

-

-	if (dev->devDesc.idVendor != 0x0403) {

-		uerr("FTDI: Unrecognized VID");

-		return NULL;

-	}

-

-	switch (dev->devDesc.idProduct) {

-	case 0x6001:

-	case 0x6010:

-	case 0x6011:

-	case 0x6014:

-	case 0x6015:

-		break;

-	default:

-		uerr("FTDI: Unrecognized PID");

-		return NULL;

-	}

-

-	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))

-		return NULL;

-

-	const usbh_interface_descriptor_t * const ifdesc = (const usbh_interface_descriptor_t * const)descriptor;

-	if (ifdesc->bInterfaceNumber != 0) {

-		uwarn("FTDI: Will allocate driver along with IF #0");

-	}

-

-	/* alloc driver */

-	for (i = 0; i < HAL_USBHFTDI_MAX_INSTANCES; i++) {

-		if (USBHFTDID[i].dev == NULL) {

-			ftdip = &USBHFTDID[i];

-			goto alloc_ok;

-		}

-	}

-

-	uwarn("FTDI: Can't alloc driver");

-

-	/* can't alloc */

-	return NULL;

-

-alloc_ok:

-	/* initialize the driver's variables */

-	ftdip->ports = 0;

-	switch (dev->devDesc.bcdDevice) {

-	case 0x200:		//AM

-		uinfo("FTDI: Type A chip");

-		ftdip->type = USBHFTDI_TYPE_A;

-		break;

-	case 0x400:		//BM

-	case 0x500:		//2232C

-	case 0x600:		//R

-	case 0x1000:	//230X

-		uinfo("FTDI: Type B chip");

-		ftdip->type = USBHFTDI_TYPE_B;

-		break;

-	case 0x700:		//2232H;

-	case 0x800:		//4232H;

-	case 0x900:		//232H;

-		uinfo("FTDI: Type H chip");

-		ftdip->type = USBHFTDI_TYPE_H;

-	default:

-		uerr("FTDI: Unrecognized chip type");

-		return NULL;

-	}

-	usbhEPSetName(&dev->ctrl, "FTD[CTRL]");

-

-	/* parse the configuration descriptor */

-	generic_iterator_t iep, icfg;

-	if_iterator_t iif;

-	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor, dev->basicConfigDesc.wTotalLength);

-	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {

-		const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);

-		uinfof("FTDI: Interface #%d", ifdesc->bInterfaceNumber);

-

-		USBHFTDIPortDriver *const prt = _find_port();

-		if (prt == NULL) {

-			uwarn("\tCan't alloc port for this interface");

-			break;

-		}

-

-		prt->ifnum = ifdesc->bInterfaceNumber;

-		prt->epin.status = USBH_EPSTATUS_UNINITIALIZED;

-		prt->epout.status = USBH_EPSTATUS_UNINITIALIZED;

-

-		for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {

-			const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);

-			if ((epdesc->bEndpointAddress & 0x80) && (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {

-				uinfof("BULK IN endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);

-				usbhEPObjectInit(&prt->epin, dev, epdesc);

-				usbhEPSetName(&prt->epin, "FTD[BIN ]");

-			} else if (((epdesc->bEndpointAddress & 0x80) == 0)

-					&& (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {

-				uinfof("BULK OUT endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);

-				usbhEPObjectInit(&prt->epout, dev, epdesc);

-				usbhEPSetName(&prt->epout, "FTD[BOUT]");

-			} else {

-				uinfof("unsupported endpoint found: bEndpointAddress=%02x, bmAttributes=%02x",

-						epdesc->bEndpointAddress, epdesc->bmAttributes);

-			}

-		}

-

-		if ((prt->epin.status != USBH_EPSTATUS_CLOSED)

-				|| (prt->epout.status != USBH_EPSTATUS_CLOSED)) {

-			uwarn("\tCouldn't find endpoints; can't alloc port for this interface");

-			continue;

-		}

-

-		/* link the new block driver to the list */

-		prt->next = ftdip->ports;

-		ftdip->ports = prt;

-		prt->ftdip = ftdip;

-

-		prt->state = USBHFTDIP_STATE_ACTIVE;

-	}

-

-	return (usbh_baseclassdriver_t *)ftdip;

-

-}

-

-static void _stop(USBHFTDIPortDriver *ftdipp);

-static void _ftdi_unload(usbh_baseclassdriver_t *drv) {

-	osalDbgCheck(drv != NULL);

-	USBHFTDIDriver *const ftdip = (USBHFTDIDriver *)drv;

-	USBHFTDIPortDriver *ftdipp = ftdip->ports;

-

-	osalMutexLock(&ftdip->mtx);

-	while (ftdipp) {

-		_stop(ftdipp);

-		ftdipp = ftdipp->next;

-	}

-

-	ftdipp = ftdip->ports;

-	osalSysLock();

-	while (ftdipp) {

-		USBHFTDIPortDriver *next = ftdipp->next;

-		usbhftdipObjectInit(ftdipp);

-		ftdipp = next;

-	}

-	osalSysUnlock();

-	osalMutexUnlock(&ftdip->mtx);

-}

-

-

-USBHFTDIPortDriver FTDIPD[HAL_USBHFTDI_MAX_PORTS];

-

-

-#define FTDI_COMMAND_RESET		0

-#define FTDI_RESET_ALL 			0

-#define FTDI_RESET_PURGE_RX 	1

-#define FTDI_RESET_PURGE_TX 	2

-

-#define FTDI_COMMAND_SETFLOW    2

-

-#define FTDI_COMMAND_SETBAUD    3

-

-#define FTDI_COMMAND_SETDATA    4

-#define FTDI_SETDATA_BREAK      (0x1 << 14)

-

-#if 0

-#define FTDI_COMMAND_MODEMCTRL  	1

-#define FTDI_COMMAND_GETMODEMSTATUS       5 /* Retrieve current value of modem status register */

-#define FTDI_COMMAND_SETEVENTCHAR         6 /* Set the event character */

-#define FTDI_COMMAND_SETERRORCHAR         7 /* Set the error character */

-#define FTDI_COMMAND_SETLATENCYTIMER      9 /* Set the latency timer */

-#define FTDI_COMMAND_GETLATENCYTIMER      10 /* Get the latency timer */

-#endif

-

-/*

- * DATA FORMAT

- *

- * IN Endpoint

- *

- * The device reserves the first two bytes of data on this endpoint to contain

- * the current values of the modem and line status registers. In the absence of

- * data, the device generates a message consisting of these two status bytes

- * every 40 ms

- *

- * Byte 0: Modem Status

- *

- * Offset       Description

- * B0   Reserved - must be 1

- * B1   Reserved - must be 0

- * B2   Reserved - must be 0

- * B3   Reserved - must be 0

- * B4   Clear to Send (CTS)

- * B5   Data Set Ready (DSR)

- * B6   Ring Indicator (RI)

- * B7   Receive Line Signal Detect (RLSD)

- *

- * Byte 1: Line Status

- *

- * Offset       Description

- * B0   Data Ready (DR)

- * B1   Overrun Error (OE)

- * B2   Parity Error (PE)

- * B3   Framing Error (FE)

- * B4   Break Interrupt (BI)

- * B5   Transmitter Holding Register (THRE)

- * B6   Transmitter Empty (TEMT)

- * B7   Error in RCVR FIFO

- *

- */

-#define FTDI_RS0_CTS    (1 << 4)

-#define FTDI_RS0_DSR    (1 << 5)

-#define FTDI_RS0_RI     (1 << 6)

-#define FTDI_RS0_RLSD   (1 << 7)

-

-#define FTDI_RS_DR      1

-#define FTDI_RS_OE      (1<<1)

-#define FTDI_RS_PE      (1<<2)

-#define FTDI_RS_FE      (1<<3)

-#define FTDI_RS_BI      (1<<4)

-#define FTDI_RS_THRE    (1<<5)

-#define FTDI_RS_TEMT    (1<<6)

-#define FTDI_RS_FIFO    (1<<7)

-

-

-static usbh_urbstatus_t _ftdi_port_control(USBHFTDIPortDriver *ftdipp,

-		uint8_t bRequest, uint8_t wValue, uint8_t bHIndex, uint16_t wLength,

-		uint8_t *buff) {

-

-	static const uint8_t bmRequestType[] = {

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //0 FTDI_COMMAND_RESET

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //1 FTDI_COMMAND_MODEMCTRL

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //2 FTDI_COMMAND_SETFLOW

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //3 FTDI_COMMAND_SETBAUD

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //4 FTDI_COMMAND_SETDATA

-	};

-

-	osalDbgCheck(bRequest < sizeof_array(bmRequestType));

-	osalDbgCheck(bRequest != 1);

-

-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {

-			bmRequestType[bRequest],

-			bRequest,

-			wValue,

-			(bHIndex << 8) | (ftdipp->ifnum + 1),

-			wLength

-	};

-

-	return usbhControlRequestExtended(ftdipp->ftdip->dev, &req, buff, NULL, MS2ST(1000));

-}

-

-static uint32_t _get_divisor(uint32_t baud, usbhftdi_type_t type) {

-	static const uint8_t divfrac[8] = {0, 3, 2, 4, 1, 5, 6, 7};

-	uint32_t divisor;

-

-	if (type == USBHFTDI_TYPE_A) {

-		uint32_t divisor3 = ((48000000UL / 2) + baud / 2) / baud;

-		uinfof("FTDI: desired=%dbps, real=%dbps", baud, (48000000UL / 2) / divisor3);

-		if ((divisor3 & 0x7) == 7)

-			divisor3++; /* round x.7/8 up to x+1 */

-

-		divisor = divisor3 >> 3;

-	    divisor3 &= 0x7;

-		if (divisor3 == 1)

-			divisor |= 0xc000;

-		else if (divisor3 >= 4)

-			divisor |= 0x4000;

-		else if (divisor3 != 0)

-			divisor |= 0x8000;

-		else if (divisor == 1)

-			divisor = 0;    /* special case for maximum baud rate */

-	} else {

-		if (type == USBHFTDI_TYPE_B) {

-			divisor = ((48000000UL / 2) + baud / 2) / baud;

-			uinfof("FTDI: desired=%dbps, real=%dbps", baud, (48000000UL / 2) / divisor);

-		} else {

-			/* hi-speed baud rate is 10-bit sampling instead of 16-bit */

-			if (baud < 1200)

-				baud = 1200;

-			divisor = (120000000UL * 8 + baud * 5) / (baud * 10);

-			uinfof("FTDI: desired=%dbps, real=%dbps", baud, (120000000UL * 8) / divisor / 10);

-		}

-		divisor = (divisor >> 3) | (divfrac[divisor & 0x7] << 14);

-

-		/* Deal with special cases for highest baud rates. */

-		if (divisor == 1)

-			divisor = 0;

-		else if (divisor == 0x4001)

-			divisor = 1;

-

-		if (type == USBHFTDI_TYPE_H)

-			divisor |= 0x00020000;

-	}

-	return divisor;

-}

-

-static usbh_urbstatus_t _set_baudrate(USBHFTDIPortDriver *ftdipp, uint32_t baudrate) {

-	uint32_t divisor = _get_divisor(baudrate, ftdipp->ftdip->type);

-	uint16_t wValue = (uint16_t)divisor;

-	uint16_t wIndex = (uint16_t)(divisor >> 16);

-	if (ftdipp->ftdip->dev->basicConfigDesc.bNumInterfaces > 1)

-		wIndex = (wIndex << 8) | (ftdipp->ifnum + 1);

-

-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {

-		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE,

-		FTDI_COMMAND_SETBAUD,

-		wValue,

-		wIndex,

-		0

-	};

-	return usbhControlRequestExtended(ftdipp->ftdip->dev, &req, NULL, NULL, MS2ST(1000));

-}

-

-

-static void _submitOutI(USBHFTDIPortDriver *ftdipp, uint32_t len) {

-	udbgf("FTDI: Submit OUT %d", len);

-	ftdipp->oq_urb.requestedLength = len;

-	usbhURBObjectResetI(&ftdipp->oq_urb);

-	usbhURBSubmitI(&ftdipp->oq_urb);

-}

-

-static void _out_cb(usbh_urb_t *urb) {

-	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)urb->userData;

-	switch (urb->status) {

-	case USBH_URBSTATUS_OK:

-		ftdipp->oq_ptr = ftdipp->oq_buff;

-		ftdipp->oq_counter = 64;

-		chThdDequeueNextI(&ftdipp->oq_waiting, Q_OK);

-		return;

-	case USBH_URBSTATUS_DISCONNECTED:

-		uwarn("FTDI: URB OUT disconnected");

-		chThdDequeueNextI(&ftdipp->oq_waiting, Q_RESET);

-		return;

-	default:

-		uerrf("FTDI: URB OUT status unexpected = %d", urb->status);

-		break;

-	}

-	usbhURBObjectResetI(&ftdipp->oq_urb);

-	usbhURBSubmitI(&ftdipp->oq_urb);

-}

-

-static size_t _write_timeout(USBHFTDIPortDriver *ftdipp, const uint8_t *bp,

-		size_t n, systime_t timeout) {

-	chDbgCheck(n > 0U);

-

-	size_t w = 0;

-	chSysLock();

-	while (true) {

-		if (ftdipp->state != USBHFTDIP_STATE_READY) {

-			chSysUnlock();

-			return w;

-		}

-		while (usbhURBIsBusy(&ftdipp->oq_urb)) {

-			if (chThdEnqueueTimeoutS(&ftdipp->oq_waiting, timeout) != Q_OK) {

-				chSysUnlock();

-				return w;

-			}

-		}

-

-		*ftdipp->oq_ptr++ = *bp++;

-		if (--ftdipp->oq_counter == 0) {

-			_submitOutI(ftdipp, 64);

-			chSchRescheduleS();

-		}

-		chSysUnlock(); /* Gives a preemption chance in a controlled point.*/

-

-		w++;

-		if (--n == 0U)

-			return w;

-

-		chSysLock();

-	}

-}

-

-static msg_t _put_timeout(USBHFTDIPortDriver *ftdipp, uint8_t b, systime_t timeout) {

-

-	chSysLock();

-	if (ftdipp->state != USBHFTDIP_STATE_READY) {

-		chSysUnlock();

-		return Q_RESET;

-	}

-

-	while (usbhURBIsBusy(&ftdipp->oq_urb)) {

-		msg_t msg = chThdEnqueueTimeoutS(&ftdipp->oq_waiting, timeout);

-		if (msg < Q_OK) {

-			chSysUnlock();

-			return msg;

-		}

-	}

-

-	*ftdipp->oq_ptr++ = b;

-	if (--ftdipp->oq_counter == 0) {

-		_submitOutI(ftdipp, 64);

-		chSchRescheduleS();

-	}

-	chSysUnlock();

-	return Q_OK;

-}

-

-static size_t _write(USBHFTDIPortDriver *ftdipp, const uint8_t *bp, size_t n) {

-	return _write_timeout(ftdipp, bp, n, TIME_INFINITE);

-}

-

-static msg_t _put(USBHFTDIPortDriver *ftdipp, uint8_t b) {

-	return _put_timeout(ftdipp, b, TIME_INFINITE);

-}

-

-static void _submitInI(USBHFTDIPortDriver *ftdipp) {

-	udbg("FTDI: Submit IN");

-	usbhURBObjectResetI(&ftdipp->iq_urb);

-	usbhURBSubmitI(&ftdipp->iq_urb);

-}

-

-static void _in_cb(usbh_urb_t *urb) {

-	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)urb->userData;

-	switch (urb->status) {

-	case USBH_URBSTATUS_OK:

-		if (urb->actualLength < 2) {

-			uwarnf("FTDI: URB IN actualLength = %d, < 2", urb->actualLength);

-		} else if (urb->actualLength > 2) {

-			udbgf("FTDI: URB IN data len=%d, status=%02x %02x",

-					urb->actualLength - 2,

-					((uint8_t *)urb->buff)[0],

-					((uint8_t *)urb->buff)[1]);

-			ftdipp->iq_ptr = ftdipp->iq_buff + 2;

-			ftdipp->iq_counter = urb->actualLength - 2;

-			chThdDequeueNextI(&ftdipp->iq_waiting, Q_OK);

-			return;

-		} else {

-			udbgf("FTDI: URB IN no data, status=%02x %02x",

-					((uint8_t *)urb->buff)[0],

-					((uint8_t *)urb->buff)[1]);

-			return;

-		}

-		break;

-	case USBH_URBSTATUS_DISCONNECTED:

-		uwarn("FTDI: URB IN disconnected");

-		chThdDequeueNextI(&ftdipp->iq_waiting, Q_RESET);

-		return;

-	default:

-		uerrf("FTDI: URB IN status unexpected = %d", urb->status);

-		break;

-	}

-	_submitInI(ftdipp);

-}

-

-static size_t _read_timeout(USBHFTDIPortDriver *ftdipp, uint8_t *bp,

-		size_t n, systime_t timeout) {

-	size_t r = 0;

-

-	chDbgCheck(n > 0U);

-

-	chSysLock();

-	while (true) {

-		if (ftdipp->state != USBHFTDIP_STATE_READY) {

-			chSysUnlock();

-			return r;

-		}

-		while (ftdipp->iq_counter == 0) {

-			if (!usbhURBIsBusy(&ftdipp->iq_urb))

-				_submitInI(ftdipp);

-			if (chThdEnqueueTimeoutS(&ftdipp->iq_waiting, timeout) != Q_OK) {

-				chSysUnlock();

-				return r;

-			}

-		}

-		*bp++ = *ftdipp->iq_ptr++;

-		if (--ftdipp->iq_counter == 0) {

-			_submitInI(ftdipp);

-			chSchRescheduleS();

-		}

-		chSysUnlock();

-

-		r++;

-		if (--n == 0U)

-			return r;

-

-		chSysLock();

-	}

-}

-

-static msg_t _get_timeout(USBHFTDIPortDriver *ftdipp, systime_t timeout) {

-	uint8_t b;

-

-	chSysLock();

-	if (ftdipp->state != USBHFTDIP_STATE_READY) {

-		chSysUnlock();

-		return Q_RESET;

-	}

-	while (ftdipp->iq_counter == 0) {

-		if (!usbhURBIsBusy(&ftdipp->iq_urb))

-			_submitInI(ftdipp);

-		msg_t msg = chThdEnqueueTimeoutS(&ftdipp->iq_waiting, timeout);

-		if (msg < Q_OK) {

-			chSysUnlock();

-			return msg;

-		}

-	}

-	b = *ftdipp->iq_ptr++;

-	if (--ftdipp->iq_counter == 0) {

-		_submitInI(ftdipp);

-		chSchRescheduleS();

-	}

-	chSysUnlock();

-

-	return (msg_t)b;

-}

-

-static msg_t _get(USBHFTDIPortDriver *ftdipp) {

-	return _get_timeout(ftdipp, TIME_INFINITE);

-}

-

-static size_t _read(USBHFTDIPortDriver *ftdipp, uint8_t *bp, size_t n) {

-	return _read_timeout(ftdipp, bp, n, TIME_INFINITE);

-}

-

-static void _vt(void *p) {

-	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)p;

-	chSysLockFromISR();

-	uint32_t len = ftdipp->oq_ptr - ftdipp->oq_buff;

-	if (len && !usbhURBIsBusy(&ftdipp->oq_urb)) {

-		_submitOutI(ftdipp, len);

-	}

-	if ((ftdipp->iq_counter == 0) && !usbhURBIsBusy(&ftdipp->iq_urb)) {

-		_submitInI(ftdipp);

-	}

-	chVTSetI(&ftdipp->vt, MS2ST(16), _vt, ftdipp);

-	chSysUnlockFromISR();

-}

-

-static const struct FTDIPortDriverVMT async_channel_vmt = {

-	(size_t (*)(void *, const uint8_t *, size_t))_write,

-	(size_t (*)(void *, uint8_t *, size_t))_read,

-	(msg_t (*)(void *, uint8_t))_put,

-	(msg_t (*)(void *))_get,

-	(msg_t (*)(void *, uint8_t, systime_t))_put_timeout,

-	(msg_t (*)(void *, systime_t))_get_timeout,

-	(size_t (*)(void *, const uint8_t *, size_t, systime_t))_write_timeout,

-	(size_t (*)(void *, uint8_t *, size_t, systime_t))_read_timeout

-};

-

-

-static void _stop(USBHFTDIPortDriver *ftdipp) {

-	osalSysLock();

-	chVTResetI(&ftdipp->vt);

-	usbhEPCloseS(&ftdipp->epin);

-	usbhEPCloseS(&ftdipp->epout);

-	chThdDequeueAllI(&ftdipp->iq_waiting, Q_RESET);

-	chThdDequeueAllI(&ftdipp->oq_waiting, Q_RESET);

-	osalOsRescheduleS();

-	ftdipp->state = USBHFTDIP_STATE_ACTIVE;

-	osalSysUnlock();

-}

-

-void usbhftdipStop(USBHFTDIPortDriver *ftdipp) {

-	osalDbgCheck((ftdipp->state == USBHFTDIP_STATE_ACTIVE)

-			|| (ftdipp->state == USBHFTDIP_STATE_READY));

-

-	if (ftdipp->state == USBHFTDIP_STATE_ACTIVE) {

-		return;

-	}

-

-	osalMutexLock(&ftdipp->ftdip->mtx);

-	_stop(ftdipp);

-	osalMutexUnlock(&ftdipp->ftdip->mtx);

-}

-

-void usbhftdipStart(USBHFTDIPortDriver *ftdipp, const USBHFTDIPortConfig *config) {

-	static const USBHFTDIPortConfig default_config = {

-		HAL_USBHFTDI_DEFAULT_SPEED,

-		HAL_USBHFTDI_DEFAULT_FRAMING,

-		HAL_USBHFTDI_DEFAULT_HANDSHAKE,

-		HAL_USBHFTDI_DEFAULT_XON,

-		HAL_USBHFTDI_DEFAULT_XOFF

-	};

-

-	osalDbgCheck((ftdipp->state == USBHFTDIP_STATE_ACTIVE)

-			|| (ftdipp->state == USBHFTDIP_STATE_READY));

-

-	if (ftdipp->state == USBHFTDIP_STATE_READY)

-		return;

-

-	osalMutexLock(&ftdipp->ftdip->mtx);

-	if (config == NULL)

-		config = &default_config;

-

-	uint16_t wValue = 0;

-	_ftdi_port_control(ftdipp, FTDI_COMMAND_RESET, FTDI_RESET_ALL, 0, 0, NULL);

-	_set_baudrate(ftdipp, config->speed);

-	_ftdi_port_control(ftdipp, FTDI_COMMAND_SETDATA, config->framing, 0, 0, NULL);

-	if (config->handshake & USBHFTDI_HANDSHAKE_XON_XOFF)

-		wValue = (config->xoff_character << 8) | config->xon_character;

-	_ftdi_port_control(ftdipp, FTDI_COMMAND_SETFLOW, wValue, config->handshake, 0, NULL);

-

-	usbhURBObjectInit(&ftdipp->oq_urb, &ftdipp->epout, _out_cb, ftdipp, ftdipp->oq_buff, 0);

-	chThdQueueObjectInit(&ftdipp->oq_waiting);

-	ftdipp->oq_counter = 64;

-	ftdipp->oq_ptr = ftdipp->oq_buff;

-	usbhEPOpen(&ftdipp->epout);

-

-	usbhURBObjectInit(&ftdipp->iq_urb, &ftdipp->epin, _in_cb, ftdipp, ftdipp->iq_buff, 64);

-	chThdQueueObjectInit(&ftdipp->iq_waiting);

-	ftdipp->iq_counter = 0;

-	ftdipp->iq_ptr = ftdipp->iq_buff;

-	usbhEPOpen(&ftdipp->epin);

-	osalSysLock();

-	usbhURBSubmitI(&ftdipp->iq_urb);

-	osalSysUnlock();

-

-	chVTObjectInit(&ftdipp->vt);

-	chVTSet(&ftdipp->vt, MS2ST(16), _vt, ftdipp);

-

-	ftdipp->state = USBHFTDIP_STATE_READY;

-	osalMutexUnlock(&ftdipp->ftdip->mtx);

-}

-

-void usbhftdiObjectInit(USBHFTDIDriver *ftdip) {

-	osalDbgCheck(ftdip != NULL);

-	memset(ftdip, 0, sizeof(*ftdip));

-	ftdip->info = &usbhftdiClassDriverInfo;

-	osalMutexObjectInit(&ftdip->mtx);

-}

-

-void usbhftdipObjectInit(USBHFTDIPortDriver *ftdipp) {

-	osalDbgCheck(ftdipp != NULL);

-	memset(ftdipp, 0, sizeof(*ftdipp));

-	ftdipp->vmt = &async_channel_vmt;

-	ftdipp->state = USBHFTDIP_STATE_STOP;

-}

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "hal_usbh.h"
+
+#if HAL_USBH_USE_FTDI
+
+#if !HAL_USE_USBH
+#error "USBHFTDI needs USBH"
+#endif
+
+#include <string.h>
+#include "usbh/dev/ftdi.h"
+#include "usbh/internal.h"
+
+//#pragma GCC optimize("Og")
+
+
+#if USBHFTDI_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBHFTDI_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBHFTDI_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBHFTDI_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+
+/*===========================================================================*/
+/* USB Class driver loader for FTDI								 		 	 */
+/*===========================================================================*/
+USBHFTDIDriver USBHFTDID[HAL_USBHFTDI_MAX_INSTANCES];
+
+static usbh_baseclassdriver_t *_ftdi_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
+static void _ftdi_unload(usbh_baseclassdriver_t *drv);
+
+static const usbh_classdriver_vmt_t class_driver_vmt = {
+	_ftdi_load,
+	_ftdi_unload
+};
+
+const usbh_classdriverinfo_t usbhftdiClassDriverInfo = {
+	0xff, 0xff, 0xff, "FTDI", &class_driver_vmt
+};
+
+static USBHFTDIPortDriver *_find_port(void) {
+	uint8_t i;
+	for (i = 0; i < HAL_USBHFTDI_MAX_PORTS; i++) {
+		if (FTDIPD[i].ftdip == NULL)
+			return &FTDIPD[i];
+	}
+	return NULL;
+}
+
+static usbh_baseclassdriver_t *_ftdi_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {
+	int i;
+	USBHFTDIDriver *ftdip;
+
+	if (dev->devDesc.idVendor != 0x0403) {
+		uerr("FTDI: Unrecognized VID");
+		return NULL;
+	}
+
+	switch (dev->devDesc.idProduct) {
+	case 0x6001:
+	case 0x6010:
+	case 0x6011:
+	case 0x6014:
+	case 0x6015:
+		break;
+	default:
+		uerr("FTDI: Unrecognized PID");
+		return NULL;
+	}
+
+	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))
+		return NULL;
+
+	const usbh_interface_descriptor_t * const ifdesc = (const usbh_interface_descriptor_t * const)descriptor;
+	if (ifdesc->bInterfaceNumber != 0) {
+		uwarn("FTDI: Will allocate driver along with IF #0");
+	}
+
+	/* alloc driver */
+	for (i = 0; i < HAL_USBHFTDI_MAX_INSTANCES; i++) {
+		if (USBHFTDID[i].dev == NULL) {
+			ftdip = &USBHFTDID[i];
+			goto alloc_ok;
+		}
+	}
+
+	uwarn("FTDI: Can't alloc driver");
+
+	/* can't alloc */
+	return NULL;
+
+alloc_ok:
+	/* initialize the driver's variables */
+	ftdip->ports = 0;
+	switch (dev->devDesc.bcdDevice) {
+	case 0x200:		//AM
+		uinfo("FTDI: Type A chip");
+		ftdip->type = USBHFTDI_TYPE_A;
+		break;
+	case 0x400:		//BM
+	case 0x500:		//2232C
+	case 0x600:		//R
+	case 0x1000:	//230X
+		uinfo("FTDI: Type B chip");
+		ftdip->type = USBHFTDI_TYPE_B;
+		break;
+	case 0x700:		//2232H;
+	case 0x800:		//4232H;
+	case 0x900:		//232H;
+		uinfo("FTDI: Type H chip");
+		ftdip->type = USBHFTDI_TYPE_H;
+	default:
+		uerr("FTDI: Unrecognized chip type");
+		return NULL;
+	}
+	usbhEPSetName(&dev->ctrl, "FTD[CTRL]");
+
+	/* parse the configuration descriptor */
+	generic_iterator_t iep, icfg;
+	if_iterator_t iif;
+	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor, dev->basicConfigDesc.wTotalLength);
+	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+		const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+		uinfof("FTDI: Interface #%d", ifdesc->bInterfaceNumber);
+
+		USBHFTDIPortDriver *const prt = _find_port();
+		if (prt == NULL) {
+			uwarn("\tCan't alloc port for this interface");
+			break;
+		}
+
+		prt->ifnum = ifdesc->bInterfaceNumber;
+		prt->epin.status = USBH_EPSTATUS_UNINITIALIZED;
+		prt->epout.status = USBH_EPSTATUS_UNINITIALIZED;
+
+		for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+			const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+			if ((epdesc->bEndpointAddress & 0x80) && (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {
+				uinfof("BULK IN endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);
+				usbhEPObjectInit(&prt->epin, dev, epdesc);
+				usbhEPSetName(&prt->epin, "FTD[BIN ]");
+			} else if (((epdesc->bEndpointAddress & 0x80) == 0)
+					&& (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {
+				uinfof("BULK OUT endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);
+				usbhEPObjectInit(&prt->epout, dev, epdesc);
+				usbhEPSetName(&prt->epout, "FTD[BOUT]");
+			} else {
+				uinfof("unsupported endpoint found: bEndpointAddress=%02x, bmAttributes=%02x",
+						epdesc->bEndpointAddress, epdesc->bmAttributes);
+			}
+		}
+
+		if ((prt->epin.status != USBH_EPSTATUS_CLOSED)
+				|| (prt->epout.status != USBH_EPSTATUS_CLOSED)) {
+			uwarn("\tCouldn't find endpoints; can't alloc port for this interface");
+			continue;
+		}
+
+		/* link the new block driver to the list */
+		prt->next = ftdip->ports;
+		ftdip->ports = prt;
+		prt->ftdip = ftdip;
+
+		prt->state = USBHFTDIP_STATE_ACTIVE;
+	}
+
+	return (usbh_baseclassdriver_t *)ftdip;
+
+}
+
+static void _stop(USBHFTDIPortDriver *ftdipp);
+static void _ftdi_unload(usbh_baseclassdriver_t *drv) {
+	osalDbgCheck(drv != NULL);
+	USBHFTDIDriver *const ftdip = (USBHFTDIDriver *)drv;
+	USBHFTDIPortDriver *ftdipp = ftdip->ports;
+
+	osalMutexLock(&ftdip->mtx);
+	while (ftdipp) {
+		_stop(ftdipp);
+		ftdipp = ftdipp->next;
+	}
+
+	ftdipp = ftdip->ports;
+	osalSysLock();
+	while (ftdipp) {
+		USBHFTDIPortDriver *next = ftdipp->next;
+		usbhftdipObjectInit(ftdipp);
+		ftdipp = next;
+	}
+	osalSysUnlock();
+	osalMutexUnlock(&ftdip->mtx);
+}
+
+
+USBHFTDIPortDriver FTDIPD[HAL_USBHFTDI_MAX_PORTS];
+
+
+#define FTDI_COMMAND_RESET		0
+#define FTDI_RESET_ALL 			0
+#define FTDI_RESET_PURGE_RX 	1
+#define FTDI_RESET_PURGE_TX 	2
+
+#define FTDI_COMMAND_SETFLOW    2
+
+#define FTDI_COMMAND_SETBAUD    3
+
+#define FTDI_COMMAND_SETDATA    4
+#define FTDI_SETDATA_BREAK      (0x1 << 14)
+
+#if 0
+#define FTDI_COMMAND_MODEMCTRL  	1
+#define FTDI_COMMAND_GETMODEMSTATUS       5 /* Retrieve current value of modem status register */
+#define FTDI_COMMAND_SETEVENTCHAR         6 /* Set the event character */
+#define FTDI_COMMAND_SETERRORCHAR         7 /* Set the error character */
+#define FTDI_COMMAND_SETLATENCYTIMER      9 /* Set the latency timer */
+#define FTDI_COMMAND_GETLATENCYTIMER      10 /* Get the latency timer */
+#endif
+
+/*
+ * DATA FORMAT
+ *
+ * IN Endpoint
+ *
+ * The device reserves the first two bytes of data on this endpoint to contain
+ * the current values of the modem and line status registers. In the absence of
+ * data, the device generates a message consisting of these two status bytes
+ * every 40 ms
+ *
+ * Byte 0: Modem Status
+ *
+ * Offset       Description
+ * B0   Reserved - must be 1
+ * B1   Reserved - must be 0
+ * B2   Reserved - must be 0
+ * B3   Reserved - must be 0
+ * B4   Clear to Send (CTS)
+ * B5   Data Set Ready (DSR)
+ * B6   Ring Indicator (RI)
+ * B7   Receive Line Signal Detect (RLSD)
+ *
+ * Byte 1: Line Status
+ *
+ * Offset       Description
+ * B0   Data Ready (DR)
+ * B1   Overrun Error (OE)
+ * B2   Parity Error (PE)
+ * B3   Framing Error (FE)
+ * B4   Break Interrupt (BI)
+ * B5   Transmitter Holding Register (THRE)
+ * B6   Transmitter Empty (TEMT)
+ * B7   Error in RCVR FIFO
+ *
+ */
+#define FTDI_RS0_CTS    (1 << 4)
+#define FTDI_RS0_DSR    (1 << 5)
+#define FTDI_RS0_RI     (1 << 6)
+#define FTDI_RS0_RLSD   (1 << 7)
+
+#define FTDI_RS_DR      1
+#define FTDI_RS_OE      (1<<1)
+#define FTDI_RS_PE      (1<<2)
+#define FTDI_RS_FE      (1<<3)
+#define FTDI_RS_BI      (1<<4)
+#define FTDI_RS_THRE    (1<<5)
+#define FTDI_RS_TEMT    (1<<6)
+#define FTDI_RS_FIFO    (1<<7)
+
+
+static usbh_urbstatus_t _ftdi_port_control(USBHFTDIPortDriver *ftdipp,
+		uint8_t bRequest, uint8_t wValue, uint8_t bHIndex, uint16_t wLength,
+		uint8_t *buff) {
+
+	static const uint8_t bmRequestType[] = {
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //0 FTDI_COMMAND_RESET
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //1 FTDI_COMMAND_MODEMCTRL
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //2 FTDI_COMMAND_SETFLOW
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //3 FTDI_COMMAND_SETBAUD
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE, //4 FTDI_COMMAND_SETDATA
+	};
+
+	osalDbgCheck(bRequest < sizeof_array(bmRequestType));
+	osalDbgCheck(bRequest != 1);
+
+	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+			bmRequestType[bRequest],
+			bRequest,
+			wValue,
+			(bHIndex << 8) | (ftdipp->ifnum + 1),
+			wLength
+	};
+
+	return usbhControlRequestExtended(ftdipp->ftdip->dev, &req, buff, NULL, MS2ST(1000));
+}
+
+static uint32_t _get_divisor(uint32_t baud, usbhftdi_type_t type) {
+	static const uint8_t divfrac[8] = {0, 3, 2, 4, 1, 5, 6, 7};
+	uint32_t divisor;
+
+	if (type == USBHFTDI_TYPE_A) {
+		uint32_t divisor3 = ((48000000UL / 2) + baud / 2) / baud;
+		uinfof("FTDI: desired=%dbps, real=%dbps", baud, (48000000UL / 2) / divisor3);
+		if ((divisor3 & 0x7) == 7)
+			divisor3++; /* round x.7/8 up to x+1 */
+
+		divisor = divisor3 >> 3;
+	    divisor3 &= 0x7;
+		if (divisor3 == 1)
+			divisor |= 0xc000;
+		else if (divisor3 >= 4)
+			divisor |= 0x4000;
+		else if (divisor3 != 0)
+			divisor |= 0x8000;
+		else if (divisor == 1)
+			divisor = 0;    /* special case for maximum baud rate */
+	} else {
+		if (type == USBHFTDI_TYPE_B) {
+			divisor = ((48000000UL / 2) + baud / 2) / baud;
+			uinfof("FTDI: desired=%dbps, real=%dbps", baud, (48000000UL / 2) / divisor);
+		} else {
+			/* hi-speed baud rate is 10-bit sampling instead of 16-bit */
+			if (baud < 1200)
+				baud = 1200;
+			divisor = (120000000UL * 8 + baud * 5) / (baud * 10);
+			uinfof("FTDI: desired=%dbps, real=%dbps", baud, (120000000UL * 8) / divisor / 10);
+		}
+		divisor = (divisor >> 3) | (divfrac[divisor & 0x7] << 14);
+
+		/* Deal with special cases for highest baud rates. */
+		if (divisor == 1)
+			divisor = 0;
+		else if (divisor == 0x4001)
+			divisor = 1;
+
+		if (type == USBHFTDI_TYPE_H)
+			divisor |= 0x00020000;
+	}
+	return divisor;
+}
+
+static usbh_urbstatus_t _set_baudrate(USBHFTDIPortDriver *ftdipp, uint32_t baudrate) {
+	uint32_t divisor = _get_divisor(baudrate, ftdipp->ftdip->type);
+	uint16_t wValue = (uint16_t)divisor;
+	uint16_t wIndex = (uint16_t)(divisor >> 16);
+	if (ftdipp->ftdip->dev->basicConfigDesc.bNumInterfaces > 1)
+		wIndex = (wIndex << 8) | (ftdipp->ifnum + 1);
+
+	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE,
+		FTDI_COMMAND_SETBAUD,
+		wValue,
+		wIndex,
+		0
+	};
+	return usbhControlRequestExtended(ftdipp->ftdip->dev, &req, NULL, NULL, MS2ST(1000));
+}
+
+
+static void _submitOutI(USBHFTDIPortDriver *ftdipp, uint32_t len) {
+	udbgf("FTDI: Submit OUT %d", len);
+	ftdipp->oq_urb.requestedLength = len;
+	usbhURBObjectResetI(&ftdipp->oq_urb);
+	usbhURBSubmitI(&ftdipp->oq_urb);
+}
+
+static void _out_cb(usbh_urb_t *urb) {
+	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)urb->userData;
+	switch (urb->status) {
+	case USBH_URBSTATUS_OK:
+		ftdipp->oq_ptr = ftdipp->oq_buff;
+		ftdipp->oq_counter = 64;
+		chThdDequeueNextI(&ftdipp->oq_waiting, Q_OK);
+		return;
+	case USBH_URBSTATUS_DISCONNECTED:
+		uwarn("FTDI: URB OUT disconnected");
+		chThdDequeueNextI(&ftdipp->oq_waiting, Q_RESET);
+		return;
+	default:
+		uerrf("FTDI: URB OUT status unexpected = %d", urb->status);
+		break;
+	}
+	usbhURBObjectResetI(&ftdipp->oq_urb);
+	usbhURBSubmitI(&ftdipp->oq_urb);
+}
+
+static size_t _write_timeout(USBHFTDIPortDriver *ftdipp, const uint8_t *bp,
+		size_t n, systime_t timeout) {
+	chDbgCheck(n > 0U);
+
+	size_t w = 0;
+	chSysLock();
+	while (true) {
+		if (ftdipp->state != USBHFTDIP_STATE_READY) {
+			chSysUnlock();
+			return w;
+		}
+		while (usbhURBIsBusy(&ftdipp->oq_urb)) {
+			if (chThdEnqueueTimeoutS(&ftdipp->oq_waiting, timeout) != Q_OK) {
+				chSysUnlock();
+				return w;
+			}
+		}
+
+		*ftdipp->oq_ptr++ = *bp++;
+		if (--ftdipp->oq_counter == 0) {
+			_submitOutI(ftdipp, 64);
+			chSchRescheduleS();
+		}
+		chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
+
+		w++;
+		if (--n == 0U)
+			return w;
+
+		chSysLock();
+	}
+}
+
+static msg_t _put_timeout(USBHFTDIPortDriver *ftdipp, uint8_t b, systime_t timeout) {
+
+	chSysLock();
+	if (ftdipp->state != USBHFTDIP_STATE_READY) {
+		chSysUnlock();
+		return Q_RESET;
+	}
+
+	while (usbhURBIsBusy(&ftdipp->oq_urb)) {
+		msg_t msg = chThdEnqueueTimeoutS(&ftdipp->oq_waiting, timeout);
+		if (msg < Q_OK) {
+			chSysUnlock();
+			return msg;
+		}
+	}
+
+	*ftdipp->oq_ptr++ = b;
+	if (--ftdipp->oq_counter == 0) {
+		_submitOutI(ftdipp, 64);
+		chSchRescheduleS();
+	}
+	chSysUnlock();
+	return Q_OK;
+}
+
+static size_t _write(USBHFTDIPortDriver *ftdipp, const uint8_t *bp, size_t n) {
+	return _write_timeout(ftdipp, bp, n, TIME_INFINITE);
+}
+
+static msg_t _put(USBHFTDIPortDriver *ftdipp, uint8_t b) {
+	return _put_timeout(ftdipp, b, TIME_INFINITE);
+}
+
+static void _submitInI(USBHFTDIPortDriver *ftdipp) {
+	udbg("FTDI: Submit IN");
+	usbhURBObjectResetI(&ftdipp->iq_urb);
+	usbhURBSubmitI(&ftdipp->iq_urb);
+}
+
+static void _in_cb(usbh_urb_t *urb) {
+	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)urb->userData;
+	switch (urb->status) {
+	case USBH_URBSTATUS_OK:
+		if (urb->actualLength < 2) {
+			uwarnf("FTDI: URB IN actualLength = %d, < 2", urb->actualLength);
+		} else if (urb->actualLength > 2) {
+			udbgf("FTDI: URB IN data len=%d, status=%02x %02x",
+					urb->actualLength - 2,
+					((uint8_t *)urb->buff)[0],
+					((uint8_t *)urb->buff)[1]);
+			ftdipp->iq_ptr = ftdipp->iq_buff + 2;
+			ftdipp->iq_counter = urb->actualLength - 2;
+			chThdDequeueNextI(&ftdipp->iq_waiting, Q_OK);
+			return;
+		} else {
+			udbgf("FTDI: URB IN no data, status=%02x %02x",
+					((uint8_t *)urb->buff)[0],
+					((uint8_t *)urb->buff)[1]);
+			return;
+		}
+		break;
+	case USBH_URBSTATUS_DISCONNECTED:
+		uwarn("FTDI: URB IN disconnected");
+		chThdDequeueNextI(&ftdipp->iq_waiting, Q_RESET);
+		return;
+	default:
+		uerrf("FTDI: URB IN status unexpected = %d", urb->status);
+		break;
+	}
+	_submitInI(ftdipp);
+}
+
+static size_t _read_timeout(USBHFTDIPortDriver *ftdipp, uint8_t *bp,
+		size_t n, systime_t timeout) {
+	size_t r = 0;
+
+	chDbgCheck(n > 0U);
+
+	chSysLock();
+	while (true) {
+		if (ftdipp->state != USBHFTDIP_STATE_READY) {
+			chSysUnlock();
+			return r;
+		}
+		while (ftdipp->iq_counter == 0) {
+			if (!usbhURBIsBusy(&ftdipp->iq_urb))
+				_submitInI(ftdipp);
+			if (chThdEnqueueTimeoutS(&ftdipp->iq_waiting, timeout) != Q_OK) {
+				chSysUnlock();
+				return r;
+			}
+		}
+		*bp++ = *ftdipp->iq_ptr++;
+		if (--ftdipp->iq_counter == 0) {
+			_submitInI(ftdipp);
+			chSchRescheduleS();
+		}
+		chSysUnlock();
+
+		r++;
+		if (--n == 0U)
+			return r;
+
+		chSysLock();
+	}
+}
+
+static msg_t _get_timeout(USBHFTDIPortDriver *ftdipp, systime_t timeout) {
+	uint8_t b;
+
+	chSysLock();
+	if (ftdipp->state != USBHFTDIP_STATE_READY) {
+		chSysUnlock();
+		return Q_RESET;
+	}
+	while (ftdipp->iq_counter == 0) {
+		if (!usbhURBIsBusy(&ftdipp->iq_urb))
+			_submitInI(ftdipp);
+		msg_t msg = chThdEnqueueTimeoutS(&ftdipp->iq_waiting, timeout);
+		if (msg < Q_OK) {
+			chSysUnlock();
+			return msg;
+		}
+	}
+	b = *ftdipp->iq_ptr++;
+	if (--ftdipp->iq_counter == 0) {
+		_submitInI(ftdipp);
+		chSchRescheduleS();
+	}
+	chSysUnlock();
+
+	return (msg_t)b;
+}
+
+static msg_t _get(USBHFTDIPortDriver *ftdipp) {
+	return _get_timeout(ftdipp, TIME_INFINITE);
+}
+
+static size_t _read(USBHFTDIPortDriver *ftdipp, uint8_t *bp, size_t n) {
+	return _read_timeout(ftdipp, bp, n, TIME_INFINITE);
+}
+
+static void _vt(void *p) {
+	USBHFTDIPortDriver *const ftdipp = (USBHFTDIPortDriver *)p;
+	chSysLockFromISR();
+	uint32_t len = ftdipp->oq_ptr - ftdipp->oq_buff;
+	if (len && !usbhURBIsBusy(&ftdipp->oq_urb)) {
+		_submitOutI(ftdipp, len);
+	}
+	if ((ftdipp->iq_counter == 0) && !usbhURBIsBusy(&ftdipp->iq_urb)) {
+		_submitInI(ftdipp);
+	}
+	chVTSetI(&ftdipp->vt, MS2ST(16), _vt, ftdipp);
+	chSysUnlockFromISR();
+}
+
+static const struct FTDIPortDriverVMT async_channel_vmt = {
+	(size_t (*)(void *, const uint8_t *, size_t))_write,
+	(size_t (*)(void *, uint8_t *, size_t))_read,
+	(msg_t (*)(void *, uint8_t))_put,
+	(msg_t (*)(void *))_get,
+	(msg_t (*)(void *, uint8_t, systime_t))_put_timeout,
+	(msg_t (*)(void *, systime_t))_get_timeout,
+	(size_t (*)(void *, const uint8_t *, size_t, systime_t))_write_timeout,
+	(size_t (*)(void *, uint8_t *, size_t, systime_t))_read_timeout
+};
+
+
+static void _stop(USBHFTDIPortDriver *ftdipp) {
+	osalSysLock();
+	chVTResetI(&ftdipp->vt);
+	usbhEPCloseS(&ftdipp->epin);
+	usbhEPCloseS(&ftdipp->epout);
+	chThdDequeueAllI(&ftdipp->iq_waiting, Q_RESET);
+	chThdDequeueAllI(&ftdipp->oq_waiting, Q_RESET);
+	osalOsRescheduleS();
+	ftdipp->state = USBHFTDIP_STATE_ACTIVE;
+	osalSysUnlock();
+}
+
+void usbhftdipStop(USBHFTDIPortDriver *ftdipp) {
+	osalDbgCheck((ftdipp->state == USBHFTDIP_STATE_ACTIVE)
+			|| (ftdipp->state == USBHFTDIP_STATE_READY));
+
+	if (ftdipp->state == USBHFTDIP_STATE_ACTIVE) {
+		return;
+	}
+
+	osalMutexLock(&ftdipp->ftdip->mtx);
+	_stop(ftdipp);
+	osalMutexUnlock(&ftdipp->ftdip->mtx);
+}
+
+void usbhftdipStart(USBHFTDIPortDriver *ftdipp, const USBHFTDIPortConfig *config) {
+	static const USBHFTDIPortConfig default_config = {
+		HAL_USBHFTDI_DEFAULT_SPEED,
+		HAL_USBHFTDI_DEFAULT_FRAMING,
+		HAL_USBHFTDI_DEFAULT_HANDSHAKE,
+		HAL_USBHFTDI_DEFAULT_XON,
+		HAL_USBHFTDI_DEFAULT_XOFF
+	};
+
+	osalDbgCheck((ftdipp->state == USBHFTDIP_STATE_ACTIVE)
+			|| (ftdipp->state == USBHFTDIP_STATE_READY));
+
+	if (ftdipp->state == USBHFTDIP_STATE_READY)
+		return;
+
+	osalMutexLock(&ftdipp->ftdip->mtx);
+	if (config == NULL)
+		config = &default_config;
+
+	uint16_t wValue = 0;
+	_ftdi_port_control(ftdipp, FTDI_COMMAND_RESET, FTDI_RESET_ALL, 0, 0, NULL);
+	_set_baudrate(ftdipp, config->speed);
+	_ftdi_port_control(ftdipp, FTDI_COMMAND_SETDATA, config->framing, 0, 0, NULL);
+	if (config->handshake & USBHFTDI_HANDSHAKE_XON_XOFF)
+		wValue = (config->xoff_character << 8) | config->xon_character;
+	_ftdi_port_control(ftdipp, FTDI_COMMAND_SETFLOW, wValue, config->handshake, 0, NULL);
+
+	usbhURBObjectInit(&ftdipp->oq_urb, &ftdipp->epout, _out_cb, ftdipp, ftdipp->oq_buff, 0);
+	chThdQueueObjectInit(&ftdipp->oq_waiting);
+	ftdipp->oq_counter = 64;
+	ftdipp->oq_ptr = ftdipp->oq_buff;
+	usbhEPOpen(&ftdipp->epout);
+
+	usbhURBObjectInit(&ftdipp->iq_urb, &ftdipp->epin, _in_cb, ftdipp, ftdipp->iq_buff, 64);
+	chThdQueueObjectInit(&ftdipp->iq_waiting);
+	ftdipp->iq_counter = 0;
+	ftdipp->iq_ptr = ftdipp->iq_buff;
+	usbhEPOpen(&ftdipp->epin);
+	osalSysLock();
+	usbhURBSubmitI(&ftdipp->iq_urb);
+	osalSysUnlock();
+
+	chVTObjectInit(&ftdipp->vt);
+	chVTSet(&ftdipp->vt, MS2ST(16), _vt, ftdipp);
+
+	ftdipp->state = USBHFTDIP_STATE_READY;
+	osalMutexUnlock(&ftdipp->ftdip->mtx);
+}
+
+void usbhftdiObjectInit(USBHFTDIDriver *ftdip) {
+	osalDbgCheck(ftdip != NULL);
+	memset(ftdip, 0, sizeof(*ftdip));
+	ftdip->info = &usbhftdiClassDriverInfo;
+	osalMutexObjectInit(&ftdip->mtx);
+}
+
+void usbhftdipObjectInit(USBHFTDIPortDriver *ftdipp) {
+	osalDbgCheck(ftdipp != NULL);
+	memset(ftdipp, 0, sizeof(*ftdipp));
+	ftdipp->vmt = &async_channel_vmt;
+	ftdipp->state = USBHFTDIP_STATE_STOP;
+}
+
+#endif
diff --git a/os/hal/src/usbh/usbh_hub.c b/os/hal/src/usbh/hal_usbh_hub.c
index eb585d2..7fdcef1 100644
--- a/os/hal/src/usbh/usbh_hub.c
+++ b/os/hal/src/usbh/hal_usbh_hub.c
@@ -1,302 +1,302 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-#include "usbh.h"

-#include "usbh/internal.h"

-

-#if HAL_USBH_USE_HUB

-

-#if !HAL_USE_USBH

-#error "USBHHUB needs HAL_USE_USBH"

-#endif

-

-#include <string.h>

-#include "usbh/dev/hub.h"

-

-#if USBHHUB_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBHHUB_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBHHUB_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBHHUB_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-

-USBHHubDriver USBHHUBD[HAL_USBHHUB_MAX_INSTANCES];

-usbh_port_t USBHPorts[HAL_USBHHUB_MAX_PORTS];

-

-static usbh_baseclassdriver_t *hub_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);

-static void hub_unload(usbh_baseclassdriver_t *drv);

-static const usbh_classdriver_vmt_t usbhhubClassDriverVMT = {

-	hub_load,

-	hub_unload

-};

-const usbh_classdriverinfo_t usbhhubClassDriverInfo = {

-	0x09, 0x00, -1, "HUB", &usbhhubClassDriverVMT

-};

-

-

-void _usbhub_port_object_init(usbh_port_t *port, USBHDriver *usbh,

-		USBHHubDriver *hub, uint8_t number) {

-	memset(port, 0, sizeof(*port));

-	port->number = number;

-	port->device.host = usbh;

-	port->hub = hub;

-}

-

-usbh_urbstatus_t usbhhubControlRequest(USBHDriver *host, USBHHubDriver *hub,

-											uint8_t bmRequestType,

-											uint8_t bRequest,

-											uint16_t wValue,

-											uint16_t wIndex,

-											uint16_t wLength,

-											uint8_t *buf) {

-	if (hub == NULL)

-		return usbh_lld_root_hub_request(host, bmRequestType, bRequest, wValue, wIndex, wLength, buf);

-

-	return usbhControlRequest(hub->dev,

-			bmRequestType, bRequest, wValue, wIndex, wLength, buf);

-}

-

-

-static void _urb_complete(usbh_urb_t *urb) {

-

-	USBHHubDriver *const hubdp = (USBHHubDriver *)urb->userData;

-	switch (urb->status) {

-	case USBH_URBSTATUS_TIMEOUT:

-		/* the device NAKed */

-		udbg("HUB: no info");

-		hubdp->statuschange = 0;

-		break;

-	case USBH_URBSTATUS_OK: {

-		uint8_t len = hubdp->hubDesc.bNbrPorts / 8 + 1;

-		if (urb->actualLength != len) {

-			uwarnf("Expected %d status change bytes but got %d", len, urb->actualLength);

-		}

-

-		if (urb->actualLength < len)

-			len = urb->actualLength;

-

-		if (len > 4)

-			len = 4;

-

-		uint8_t *sc = (uint8_t *)&hubdp->statuschange;

-		uint8_t *r = hubdp->scbuff;

-		while (len--)

-			*sc++ |= *r++;

-

-		uinfof("HUB: change, %08x", hubdp->statuschange);

-	}	break;

-	case USBH_URBSTATUS_DISCONNECTED:

-		uwarn("HUB: URB disconnected, aborting poll");

-		return;

-	default:

-		uerrf("HUB: URB status unexpected = %d", urb->status);

-		break;

-	}

-

-	usbhURBObjectResetI(urb);

-	usbhURBSubmitI(urb);

-}

-

-static usbh_baseclassdriver_t *hub_load(usbh_device_t *dev,

-		const uint8_t *descriptor, uint16_t rem) {

-	int i;

-

-	USBHHubDriver *hubdp;

-

-	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_DEVICE))

-		return NULL;

-

-	if (dev->devDesc.bDeviceProtocol != 0)

-		return NULL;

-

-	generic_iterator_t iep, icfg;

-	if_iterator_t iif;

-

-	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,

-			dev->basicConfigDesc.wTotalLength);

-

-	if_iter_init(&iif, &icfg);

-	if (!iif.valid)

-		return NULL;

-	const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);

-	if ((ifdesc->bInterfaceClass != 0x09)

-		|| (ifdesc->bInterfaceSubClass != 0x00)

-		|| (ifdesc->bInterfaceProtocol != 0x00)) {

-		return NULL;

-	}

-

-	ep_iter_init(&iep, &iif);

-	if (!iep.valid)

-		return NULL;

-	const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);

-	if ((epdesc->bmAttributes & 0x03) != USBH_EPTYPE_INT) {

-		return NULL;

-	}

-

-

-	/* alloc driver */

-	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {

-		if (USBHHUBD[i].dev == NULL) {

-			hubdp = &USBHHUBD[i];

-			goto alloc_ok;

-		}

-	}

-

-	uwarn("Can't alloc HUB driver");

-

-	/* can't alloc */

-	return NULL;

-

-alloc_ok:

-	/* initialize the driver's variables */

-	hubdp->epint.status = USBH_EPSTATUS_UNINITIALIZED;

-	hubdp->dev = dev;

-	hubdp->ports = 0;

-

-	usbhEPSetName(&dev->ctrl, "HUB[CTRL]");

-

-	/* read Hub descriptor */

-	uinfo("Read Hub descriptor");

-	if (usbhhubControlRequest(dev->host, hubdp,

-			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_DEVICE,

-			USBH_REQ_GET_DESCRIPTOR,

-			(USBH_DT_HUB << 8), 0, sizeof(hubdp->hubDesc),

-			(uint8_t *)&hubdp->hubDesc) != USBH_URBSTATUS_OK) {

-		hubdp->dev = NULL;

-		return NULL;

-	}

-

-	const usbh_hub_descriptor_t *const hubdesc = &hubdp->hubDesc;

-

-	uinfof("Hub descriptor loaded; %d ports, wHubCharacteristics=%04x, bPwrOn2PwrGood=%d, bHubContrCurrent=%d",

-			hubdesc->bNbrPorts,

-			hubdesc->wHubCharacteristics,

-			hubdesc->bPwrOn2PwrGood,

-			hubdesc->bHubContrCurrent);

-

-	/* Alloc ports */

-	uint8_t ports = hubdesc->bNbrPorts;

-	for (i = 0; (ports > 0) && (i < HAL_USBHHUB_MAX_PORTS); i++) {

-		if (USBHPorts[i].hub == NULL) {

-			uinfof("Alloc port %d", ports);

-			_usbhub_port_object_init(&USBHPorts[i], dev->host, hubdp, ports);

-			USBHPorts[i].next = hubdp->ports;

-			hubdp->ports = &USBHPorts[i];

-			--ports;

-		}

-	}

-

-	if (ports) {

-		uwarn("Could not alloc all ports");

-	}

-

-	/* link hub to the host's list */

-	list_add_tail(&hubdp->node, &dev->host->hubs);

-

-	/* enable power to ports */

-	usbh_port_t *port = hubdp->ports;

-	while (port) {

-		uinfof("Enable power for port %d", port->number);

-		usbhhubSetFeaturePort(port, USBH_PORT_FEAT_POWER);

-		port = port->next;

-	}

-

-	if (hubdesc->bPwrOn2PwrGood)

-		osalThreadSleepMilliseconds(2 * hubdesc->bPwrOn2PwrGood);

-

-	/* initialize the status change endpoint and trigger the first transfer */

-	usbhEPObjectInit(&hubdp->epint, dev, epdesc);

-	usbhEPSetName(&hubdp->epint, "HUB[INT ]");

-	usbhEPOpen(&hubdp->epint);

-

-	usbhURBObjectInit(&hubdp->urb, &hubdp->epint,

-			_urb_complete, hubdp, hubdp->scbuff,

-			(hubdesc->bNbrPorts + 8) / 8);

-

-	osalSysLock();

-	usbhURBSubmitI(&hubdp->urb);

-	osalOsRescheduleS();

-	osalSysUnlock();

-

-	return (usbh_baseclassdriver_t *)hubdp;

-}

-

-static void hub_unload(usbh_baseclassdriver_t *drv) {

-	osalDbgCheck(drv != NULL);

-	USBHHubDriver *const hubdp = (USBHHubDriver *)drv;

-

-	/* close the status change endpoint (this cancels ongoing URBs) */

-	osalSysLock();

-	usbhEPCloseS(&hubdp->epint);

-	osalSysUnlock();

-

-	/* de-alloc ports and unload drivers */

-	usbh_port_t *port = hubdp->ports;

-	while (port) {

-		_usbh_port_disconnected(port);

-		port->hub = NULL;

-		port = port->next;

-	}

-

-	/* unlink the hub from the host's list */

-	list_del(&hubdp->node);

-

-}

-

-void usbhhubObjectInit(USBHHubDriver *hubdp) {

-	osalDbgCheck(hubdp != NULL);

-	memset(hubdp, 0, sizeof(*hubdp));

-	hubdp->info = &usbhhubClassDriverInfo;

-}

-#else

-

-#if HAL_USE_USBH

-void _usbhub_port_object_init(usbh_port_t *port, USBHDriver *usbh, uint8_t number) {

-	memset(port, 0, sizeof(*port));

-	port->number = number;

-	port->device.host = usbh;

-}

-#endif

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "hal_usbh.h"
+#include "usbh/internal.h"
+
+#if HAL_USBH_USE_HUB
+
+#if !HAL_USE_USBH
+#error "USBHHUB needs HAL_USE_USBH"
+#endif
+
+#include <string.h>
+#include "usbh/dev/hub.h"
+
+#if USBHHUB_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBHHUB_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBHHUB_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBHHUB_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+
+USBHHubDriver USBHHUBD[HAL_USBHHUB_MAX_INSTANCES];
+usbh_port_t USBHPorts[HAL_USBHHUB_MAX_PORTS];
+
+static usbh_baseclassdriver_t *hub_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
+static void hub_unload(usbh_baseclassdriver_t *drv);
+static const usbh_classdriver_vmt_t usbhhubClassDriverVMT = {
+	hub_load,
+	hub_unload
+};
+const usbh_classdriverinfo_t usbhhubClassDriverInfo = {
+	0x09, 0x00, -1, "HUB", &usbhhubClassDriverVMT
+};
+
+
+void _usbhub_port_object_init(usbh_port_t *port, USBHDriver *usbh,
+		USBHHubDriver *hub, uint8_t number) {
+	memset(port, 0, sizeof(*port));
+	port->number = number;
+	port->device.host = usbh;
+	port->hub = hub;
+}
+
+usbh_urbstatus_t usbhhubControlRequest(USBHDriver *host, USBHHubDriver *hub,
+											uint8_t bmRequestType,
+											uint8_t bRequest,
+											uint16_t wValue,
+											uint16_t wIndex,
+											uint16_t wLength,
+											uint8_t *buf) {
+	if (hub == NULL)
+		return usbh_lld_root_hub_request(host, bmRequestType, bRequest, wValue, wIndex, wLength, buf);
+
+	return usbhControlRequest(hub->dev,
+			bmRequestType, bRequest, wValue, wIndex, wLength, buf);
+}
+
+
+static void _urb_complete(usbh_urb_t *urb) {
+
+	USBHHubDriver *const hubdp = (USBHHubDriver *)urb->userData;
+	switch (urb->status) {
+	case USBH_URBSTATUS_TIMEOUT:
+		/* the device NAKed */
+		udbg("HUB: no info");
+		hubdp->statuschange = 0;
+		break;
+	case USBH_URBSTATUS_OK: {
+		uint8_t len = hubdp->hubDesc.bNbrPorts / 8 + 1;
+		if (urb->actualLength != len) {
+			uwarnf("Expected %d status change bytes but got %d", len, urb->actualLength);
+		}
+
+		if (urb->actualLength < len)
+			len = urb->actualLength;
+
+		if (len > 4)
+			len = 4;
+
+		uint8_t *sc = (uint8_t *)&hubdp->statuschange;
+		uint8_t *r = hubdp->scbuff;
+		while (len--)
+			*sc++ |= *r++;
+
+		uinfof("HUB: change, %08x", hubdp->statuschange);
+	}	break;
+	case USBH_URBSTATUS_DISCONNECTED:
+		uwarn("HUB: URB disconnected, aborting poll");
+		return;
+	default:
+		uerrf("HUB: URB status unexpected = %d", urb->status);
+		break;
+	}
+
+	usbhURBObjectResetI(urb);
+	usbhURBSubmitI(urb);
+}
+
+static usbh_baseclassdriver_t *hub_load(usbh_device_t *dev,
+		const uint8_t *descriptor, uint16_t rem) {
+	int i;
+
+	USBHHubDriver *hubdp;
+
+	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_DEVICE))
+		return NULL;
+
+	if (dev->devDesc.bDeviceProtocol != 0)
+		return NULL;
+
+	generic_iterator_t iep, icfg;
+	if_iterator_t iif;
+
+	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,
+			dev->basicConfigDesc.wTotalLength);
+
+	if_iter_init(&iif, &icfg);
+	if (!iif.valid)
+		return NULL;
+	const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+	if ((ifdesc->bInterfaceClass != 0x09)
+		|| (ifdesc->bInterfaceSubClass != 0x00)
+		|| (ifdesc->bInterfaceProtocol != 0x00)) {
+		return NULL;
+	}
+
+	ep_iter_init(&iep, &iif);
+	if (!iep.valid)
+		return NULL;
+	const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+	if ((epdesc->bmAttributes & 0x03) != USBH_EPTYPE_INT) {
+		return NULL;
+	}
+
+
+	/* alloc driver */
+	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {
+		if (USBHHUBD[i].dev == NULL) {
+			hubdp = &USBHHUBD[i];
+			goto alloc_ok;
+		}
+	}
+
+	uwarn("Can't alloc HUB driver");
+
+	/* can't alloc */
+	return NULL;
+
+alloc_ok:
+	/* initialize the driver's variables */
+	hubdp->epint.status = USBH_EPSTATUS_UNINITIALIZED;
+	hubdp->dev = dev;
+	hubdp->ports = 0;
+
+	usbhEPSetName(&dev->ctrl, "HUB[CTRL]");
+
+	/* read Hub descriptor */
+	uinfo("Read Hub descriptor");
+	if (usbhhubControlRequest(dev->host, hubdp,
+			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_DEVICE,
+			USBH_REQ_GET_DESCRIPTOR,
+			(USBH_DT_HUB << 8), 0, sizeof(hubdp->hubDesc),
+			(uint8_t *)&hubdp->hubDesc) != USBH_URBSTATUS_OK) {
+		hubdp->dev = NULL;
+		return NULL;
+	}
+
+	const usbh_hub_descriptor_t *const hubdesc = &hubdp->hubDesc;
+
+	uinfof("Hub descriptor loaded; %d ports, wHubCharacteristics=%04x, bPwrOn2PwrGood=%d, bHubContrCurrent=%d",
+			hubdesc->bNbrPorts,
+			hubdesc->wHubCharacteristics,
+			hubdesc->bPwrOn2PwrGood,
+			hubdesc->bHubContrCurrent);
+
+	/* Alloc ports */
+	uint8_t ports = hubdesc->bNbrPorts;
+	for (i = 0; (ports > 0) && (i < HAL_USBHHUB_MAX_PORTS); i++) {
+		if (USBHPorts[i].hub == NULL) {
+			uinfof("Alloc port %d", ports);
+			_usbhub_port_object_init(&USBHPorts[i], dev->host, hubdp, ports);
+			USBHPorts[i].next = hubdp->ports;
+			hubdp->ports = &USBHPorts[i];
+			--ports;
+		}
+	}
+
+	if (ports) {
+		uwarn("Could not alloc all ports");
+	}
+
+	/* link hub to the host's list */
+	list_add_tail(&hubdp->node, &dev->host->hubs);
+
+	/* enable power to ports */
+	usbh_port_t *port = hubdp->ports;
+	while (port) {
+		uinfof("Enable power for port %d", port->number);
+		usbhhubSetFeaturePort(port, USBH_PORT_FEAT_POWER);
+		port = port->next;
+	}
+
+	if (hubdesc->bPwrOn2PwrGood)
+		osalThreadSleepMilliseconds(2 * hubdesc->bPwrOn2PwrGood);
+
+	/* initialize the status change endpoint and trigger the first transfer */
+	usbhEPObjectInit(&hubdp->epint, dev, epdesc);
+	usbhEPSetName(&hubdp->epint, "HUB[INT ]");
+	usbhEPOpen(&hubdp->epint);
+
+	usbhURBObjectInit(&hubdp->urb, &hubdp->epint,
+			_urb_complete, hubdp, hubdp->scbuff,
+			(hubdesc->bNbrPorts + 8) / 8);
+
+	osalSysLock();
+	usbhURBSubmitI(&hubdp->urb);
+	osalOsRescheduleS();
+	osalSysUnlock();
+
+	return (usbh_baseclassdriver_t *)hubdp;
+}
+
+static void hub_unload(usbh_baseclassdriver_t *drv) {
+	osalDbgCheck(drv != NULL);
+	USBHHubDriver *const hubdp = (USBHHubDriver *)drv;
+
+	/* close the status change endpoint (this cancels ongoing URBs) */
+	osalSysLock();
+	usbhEPCloseS(&hubdp->epint);
+	osalSysUnlock();
+
+	/* de-alloc ports and unload drivers */
+	usbh_port_t *port = hubdp->ports;
+	while (port) {
+		_usbh_port_disconnected(port);
+		port->hub = NULL;
+		port = port->next;
+	}
+
+	/* unlink the hub from the host's list */
+	list_del(&hubdp->node);
+
+}
+
+void usbhhubObjectInit(USBHHubDriver *hubdp) {
+	osalDbgCheck(hubdp != NULL);
+	memset(hubdp, 0, sizeof(*hubdp));
+	hubdp->info = &usbhhubClassDriverInfo;
+}
+#else
+
+#if HAL_USE_USBH
+void _usbhub_port_object_init(usbh_port_t *port, USBHDriver *usbh, uint8_t number) {
+	memset(port, 0, sizeof(*port));
+	port->number = number;
+	port->device.host = usbh;
+}
+#endif
+
+#endif
diff --git a/os/hal/src/usbh/usbh_msd.c b/os/hal/src/usbh/hal_usbh_msd.c
index 8db68a4..6869a74 100644
--- a/os/hal/src/usbh/usbh_msd.c
+++ b/os/hal/src/usbh/hal_usbh_msd.c
@@ -1,939 +1,939 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-#include "usbh.h"

-

-#if HAL_USBH_USE_MSD

-

-#if !HAL_USE_USBH

-#error "USBHMSD needs USBH"

-#endif

-

-#include <string.h>

-#include "usbh/dev/msd.h"

-#include "usbh/internal.h"

-

-//#pragma GCC optimize("Og")

-

-

-#if USBHMSD_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBHMSD_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBHMSD_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBHMSD_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-

-

-

-

-/*===========================================================================*/

-/* USB Class driver loader for MSD								 		 	 */

-/*===========================================================================*/

-

-USBHMassStorageDriver USBHMSD[HAL_USBHMSD_MAX_INSTANCES];

-

-static usbh_baseclassdriver_t *_msd_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);

-static void _msd_unload(usbh_baseclassdriver_t *drv);

-

-static const usbh_classdriver_vmt_t class_driver_vmt = {

-	_msd_load,

-	_msd_unload

-};

-

-const usbh_classdriverinfo_t usbhmsdClassDriverInfo = {

-	0x08, 0x06, 0x50, "MSD", &class_driver_vmt

-};

-

-#define MSD_REQ_RESET							0xFF

-#define MSD_GET_MAX_LUN							0xFE

-

-static usbh_baseclassdriver_t *_msd_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {

-	int i;

-	USBHMassStorageDriver *msdp;

-	uint8_t luns; // should declare it here to eliminate 'control bypass initialization' warning

-	usbh_urbstatus_t stat;  // should declare it here to eliminate 'control bypass initialization' warning

-

-	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))

-		return NULL;

-

-	const usbh_interface_descriptor_t * const ifdesc = (const usbh_interface_descriptor_t *)descriptor;

-

-	if ((ifdesc->bAlternateSetting != 0)

-			|| (ifdesc->bNumEndpoints < 2)

-			|| (ifdesc->bInterfaceSubClass != 0x06)

-			|| (ifdesc->bInterfaceProtocol != 0x50)) {

-		return NULL;

-	}

-

-	/* alloc driver */

-	for (i = 0; i < HAL_USBHMSD_MAX_INSTANCES; i++) {

-		if (USBHMSD[i].dev == NULL) {

-			msdp = &USBHMSD[i];

-			goto alloc_ok;

-		}

-	}

-

-	uwarn("Can't alloc MSD driver");

-

-	/* can't alloc */

-	return NULL;

-

-alloc_ok:

-	/* initialize the driver's variables */

-	msdp->epin.status = USBH_EPSTATUS_UNINITIALIZED;

-	msdp->epout.status = USBH_EPSTATUS_UNINITIALIZED;

-	msdp->max_lun = 0;

-	msdp->tag = 0;

-	msdp->luns = 0;

-	msdp->ifnum = ifdesc->bInterfaceNumber;

-	usbhEPSetName(&dev->ctrl, "MSD[CTRL]");

-

-	/* parse the configuration descriptor */

-	if_iterator_t iif;

-	generic_iterator_t iep;

-	iif.iad = 0;

-	iif.curr = descriptor;

-	iif.rem = rem;

-	for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {

-		const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);

-		if ((epdesc->bEndpointAddress & 0x80) && (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {

-			uinfof("BULK IN endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);

-			usbhEPObjectInit(&msdp->epin, dev, epdesc);

-			usbhEPSetName(&msdp->epin, "MSD[BIN ]");

-		} else if (((epdesc->bEndpointAddress & 0x80) == 0)

-				&& (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {

-			uinfof("BULK OUT endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);

-			usbhEPObjectInit(&msdp->epout, dev, epdesc);

-			usbhEPSetName(&msdp->epout, "MSD[BOUT]");

-		} else {

-			uinfof("unsupported endpoint found: bEndpointAddress=%02x, bmAttributes=%02x",

-					epdesc->bEndpointAddress, epdesc->bmAttributes);

-		}

-	}

-	if ((msdp->epin.status != USBH_EPSTATUS_CLOSED) || (msdp->epout.status != USBH_EPSTATUS_CLOSED)) {

-		goto deinit;

-	}

-

-	/* read the number of LUNs */

-	uinfo("Reading Max LUN:");

-	USBH_DEFINE_BUFFER(uint8_t, buff[4]);

-	stat = usbhControlRequest(dev,

-			USBH_CLASSIN(USBH_REQTYPE_INTERFACE, MSD_GET_MAX_LUN, 0, msdp->ifnum),

-			1, buff);

-	if (stat == USBH_URBSTATUS_OK) {

-		msdp->max_lun = buff[0] + 1;

-		uinfof("\tmax_lun = %d", msdp->max_lun);

-		if (msdp->max_lun > HAL_USBHMSD_MAX_LUNS) {

-			msdp->max_lun = HAL_USBHMSD_MAX_LUNS;

-			uwarnf("\tUsing max_lun = %d", msdp->max_lun);

-		}

-	} else if (stat == USBH_URBSTATUS_STALL) {

-		uwarn("\tStall, max_lun = 1");

-		msdp->max_lun = 1;

-	} else {

-		uerr("\tError");

-		goto deinit;

-	}

-

-	/* open the bulk IN/OUT endpoints */

-	usbhEPOpen(&msdp->epin);

-	usbhEPOpen(&msdp->epout);

-

-	/* Alloc one block device per logical unit found */

-	luns = msdp->max_lun;

-	for (i = 0; (luns > 0) && (i < HAL_USBHMSD_MAX_LUNS); i++) {

-		if (MSBLKD[i].msdp == NULL) {

-			/* link the new block driver to the list */

-			MSBLKD[i].next = msdp->luns;

-			msdp->luns = &MSBLKD[i];

-			MSBLKD[i].msdp = msdp;

-

-			osalSysLock();

-			MSBLKD[i].state = BLK_ACTIVE;	/* transition directly to active, instead of BLK_STOP */

-			osalSysUnlock();

-

-			/* connect the LUN (TODO: review if it's best to leave the LUN disconnected) */

-			usbhmsdLUNConnect(&MSBLKD[i]);

-			luns--;

-		}

-	}

-

-	return (usbh_baseclassdriver_t *)msdp;

-

-deinit:

-	/* Here, the enpoints are closed, and the driver is unlinked */

-	return NULL;

-}

-

-static void _msd_unload(usbh_baseclassdriver_t *drv) {

-	osalDbgCheck(drv != NULL);

-	USBHMassStorageDriver *const msdp = (USBHMassStorageDriver *)drv;

-	USBHMassStorageLUNDriver *lunp = msdp->luns;

-

-	osalMutexLock(&msdp->mtx);

-	osalSysLock();

-	usbhEPCloseS(&msdp->epin);

-	usbhEPCloseS(&msdp->epout);

-	while (lunp) {

-		lunp->state = BLK_STOP;

-		lunp = lunp->next;

-	}

-	osalSysUnlock();

-	osalMutexUnlock(&msdp->mtx);

-

-	/* now that the LUNs are idle, deinit them */

-	lunp = msdp->luns;

-	osalSysLock();

-	while (lunp) {

-		usbhmsdLUNObjectInit(lunp);

-		lunp = lunp->next;

-	}

-	osalSysUnlock();

-}

-

-

-/*===========================================================================*/

-/* MSD Class driver operations (Bulk-Only transport)			 		 	 */

-/*===========================================================================*/

-

-

-

-/* USB Bulk Only Transport SCSI Command block wrapper */

-PACKED_STRUCT {

-	uint32_t dCBWSignature;

-	uint32_t dCBWTag;

-	uint32_t dCBWDataTransferLength;

-	uint8_t bmCBWFlags;

-	uint8_t bCBWLUN;

-	uint8_t bCBWCBLength;

-	uint8_t CBWCB[16];

-} msd_cbw_t;

-#define MSD_CBW_SIGNATURE						0x43425355

-#define MSD_CBWFLAGS_D2H						0x80

-#define MSD_CBWFLAGS_H2D						0x00

-

-

-/* USB Bulk Only Transport SCSI Command status wrapper */

-PACKED_STRUCT {

-	uint32_t dCSWSignature;

-	uint32_t dCSWTag;

-	uint32_t dCSWDataResidue;

-	uint8_t bCSWStatus;

-} msd_csw_t;

-#define MSD_CSW_SIGNATURE						0x53425355

-

-

-typedef union {

-	msd_cbw_t cbw;

-	msd_csw_t csw;

-} msd_transaction_t;

-

-typedef enum {

-	MSD_TRANSACTIONRESULT_OK,

-	MSD_TRANSACTIONRESULT_DISCONNECTED,

-	MSD_TRANSACTIONRESULT_STALL,

-	MSD_TRANSACTIONRESULT_BUS_ERROR,

-	MSD_TRANSACTIONRESULT_SYNC_ERROR

-} msd_transaction_result_t;

-

-typedef enum {

-	MSD_COMMANDRESULT_PASSED = 0,

-	MSD_COMMANDRESULT_FAILED = 1,

-	MSD_COMMANDRESULT_PHASE_ERROR = 2

-} msd_command_result_t;

-

-typedef struct {

-	msd_transaction_result_t tres;

-	msd_command_result_t cres;

-} msd_result_t;

-

-

-/* ----------------------------------------------------- */

-/* 			SCSI Commands 								*/

-/* ----------------------------------------------------- */

-

-/* Read 10 and Write 10 */

-#define SCSI_CMD_READ_10 						0x28

-#define SCSI_CMD_WRITE_10						0x2A

-

-/* Request sense */

-#define SCSI_CMD_REQUEST_SENSE 					0x03

-PACKED_STRUCT {

-	uint8_t byte[18];

-} scsi_sense_response_t;

-

-#define SCSI_SENSE_KEY_GOOD                     0x00

-#define SCSI_SENSE_KEY_RECOVERED_ERROR          0x01

-#define SCSI_SENSE_KEY_NOT_READY                0x02

-#define SCSI_SENSE_KEY_MEDIUM_ERROR             0x03

-#define SCSI_SENSE_KEY_HARDWARE_ERROR           0x04

-#define SCSI_SENSE_KEY_ILLEGAL_REQUEST          0x05

-#define SCSI_SENSE_KEY_UNIT_ATTENTION           0x06

-#define SCSI_SENSE_KEY_DATA_PROTECT             0x07

-#define SCSI_SENSE_KEY_BLANK_CHECK              0x08

-#define SCSI_SENSE_KEY_VENDOR_SPECIFIC          0x09

-#define SCSI_SENSE_KEY_COPY_ABORTED             0x0A

-#define SCSI_SENSE_KEY_ABORTED_COMMAND          0x0B

-#define SCSI_SENSE_KEY_VOLUME_OVERFLOW          0x0D

-#define SCSI_SENSE_KEY_MISCOMPARE               0x0E

-#define SCSI_ASENSE_NO_ADDITIONAL_INFORMATION   0x00

-#define SCSI_ASENSE_LOGICAL_UNIT_NOT_READY      0x04

-#define SCSI_ASENSE_INVALID_FIELD_IN_CDB        0x24

-#define SCSI_ASENSE_NOT_READY_TO_READY_CHANGE   0x28

-#define SCSI_ASENSE_WRITE_PROTECTED             0x27

-#define SCSI_ASENSE_FORMAT_ERROR                0x31

-#define SCSI_ASENSE_INVALID_COMMAND             0x20

-#define SCSI_ASENSE_LOGICAL_BLOCK_ADDRESS_OUT_OF_RANGE 0x21

-#define SCSI_ASENSE_MEDIUM_NOT_PRESENT                 0x3A

-#define SCSI_ASENSEQ_NO_QUALIFIER                      0x00

-#define SCSI_ASENSEQ_FORMAT_COMMAND_FAILED             0x01

-#define SCSI_ASENSEQ_INITIALIZING_COMMAND_REQUIRED     0x02

-#define SCSI_ASENSEQ_OPERATION_IN_PROGRESS             0x07

-

-/* Inquiry */

-#define SCSI_CMD_INQUIRY 						0x12

-PACKED_STRUCT {

-	uint8_t peripheral;

-	uint8_t removable;

-	uint8_t version;

-	uint8_t response_data_format;

-	uint8_t additional_length;

-	uint8_t sccstp;

-	uint8_t bqueetc;

-	uint8_t cmdque;

-	uint8_t vendorID[8];

-	uint8_t productID[16];

-	uint8_t productRev[4];

-} scsi_inquiry_response_t;

-

-/* Read Capacity 10 */

-#define SCSI_CMD_READ_CAPACITY_10				0x25

-PACKED_STRUCT {

-	uint32_t last_block_addr;

-	uint32_t block_size;

-} scsi_readcapacity10_response_t;

-

-/* Start/Stop Unit */

-#define SCSI_CMD_START_STOP_UNIT				0x1B

-PACKED_STRUCT {

-	uint8_t op_code;

-	uint8_t lun_immed;

-	uint8_t res1;

-	uint8_t res2;

-	uint8_t loej_start;

-	uint8_t control;

-} scsi_startstopunit_request_t;

-

-/* test unit ready */

-#define SCSI_CMD_TEST_UNIT_READY				0x00

-

-/* Other commands, TODO: use or remove them

-#define SCSI_CMD_PREVENT_ALLOW_MEDIUM_REMOVAL	0x1E

-#define SCSI_CMD_VERIFY_10						0x2F

-#define SCSI_CMD_SEND_DIAGNOSTIC				0x1D

-#define SCSI_CMD_MODE_SENSE_6                   0x1A

-*/

-

-static inline void _prepare_cbw(msd_transaction_t *tran, USBHMassStorageLUNDriver *lunp) {

-	tran->cbw.bCBWLUN = (uint8_t)(lunp - &lunp->msdp->luns[0]);

-	memset(&tran->cbw.CBWCB, 0, sizeof(tran->cbw.CBWCB));

-}

-

-static msd_transaction_result_t _msd_transaction(msd_transaction_t *tran, USBHMassStorageLUNDriver *lunp, void *data) {

-

-	uint32_t actual_len;

-	usbh_urbstatus_t status;

-

-	tran->cbw.dCBWSignature = MSD_CBW_SIGNATURE;

-	tran->cbw.dCBWTag = ++lunp->msdp->tag;

-

-	/* control phase */

-	status = usbhBulkTransfer(&lunp->msdp->epout, &tran->cbw,

-					sizeof(tran->cbw), &actual_len, MS2ST(1000));

-

-	if (status == USBH_URBSTATUS_CANCELLED) {

-		uerr("\tMSD: Control phase: USBH_URBSTATUS_CANCELLED");

-		return MSD_TRANSACTIONRESULT_DISCONNECTED;

-	} else if (status == USBH_URBSTATUS_STALL) {

-		uerr("\tMSD: Control phase: USBH_URBSTATUS_STALL");

-		return MSD_TRANSACTIONRESULT_STALL;

-	} else if (status != USBH_URBSTATUS_OK) {

-		uerrf("\tMSD: Control phase: status = %d, != OK", status);

-		return MSD_TRANSACTIONRESULT_BUS_ERROR;

-	} else if (actual_len != sizeof(tran->cbw)) {

-		uerrf("\tMSD: Control phase: wrong actual_len = %d", actual_len);

-		return MSD_TRANSACTIONRESULT_BUS_ERROR;

-	}

-

-

-	/* data phase */

-	if (tran->cbw.dCBWDataTransferLength) {

-		status = usbhBulkTransfer(

-				tran->cbw.bmCBWFlags & MSD_CBWFLAGS_D2H ? &lunp->msdp->epin : &lunp->msdp->epout,

-				data,

-				tran->cbw.dCBWDataTransferLength,

-				&actual_len, MS2ST(20000));

-

-		if (status == USBH_URBSTATUS_CANCELLED) {

-			uerr("\tMSD: Data phase: USBH_URBSTATUS_CANCELLED");

-			return MSD_TRANSACTIONRESULT_DISCONNECTED;

-		} else if (status == USBH_URBSTATUS_STALL) {

-			uerr("\tMSD: Data phase: USBH_URBSTATUS_STALL");

-			return MSD_TRANSACTIONRESULT_STALL;

-		} else if (status != USBH_URBSTATUS_OK) {

-			uerrf("\tMSD: Data phase: status = %d, != OK", status);

-			return MSD_TRANSACTIONRESULT_BUS_ERROR;

-		} else if (actual_len != tran->cbw.dCBWDataTransferLength) {

-			uerrf("\tMSD: Data phase: wrong actual_len = %d", actual_len);

-			return MSD_TRANSACTIONRESULT_BUS_ERROR;

-		}

-	}

-

-

-	/* status phase */

-	status = usbhBulkTransfer(&lunp->msdp->epin, &tran->csw,

-			sizeof(tran->csw), &actual_len, MS2ST(1000));

-

-	if (status == USBH_URBSTATUS_CANCELLED) {

-		uerr("\tMSD: Status phase: USBH_URBSTATUS_CANCELLED");

-		return MSD_TRANSACTIONRESULT_DISCONNECTED;

-	} else if (status == USBH_URBSTATUS_STALL) {

-		uerr("\tMSD: Status phase: USBH_URBSTATUS_STALL");

-		return MSD_TRANSACTIONRESULT_STALL;

-	} else if (status != USBH_URBSTATUS_OK) {

-		uerrf("\tMSD: Status phase: status = %d, != OK", status);

-		return MSD_TRANSACTIONRESULT_BUS_ERROR;

-	} else if (actual_len != sizeof(tran->csw)) {

-		uerrf("\tMSD: Status phase: wrong actual_len = %d", actual_len);

-		return MSD_TRANSACTIONRESULT_BUS_ERROR;

-	} else if (tran->csw.dCSWSignature != MSD_CSW_SIGNATURE) {

-		uerr("\tMSD: Status phase: wrong signature");

-		return MSD_TRANSACTIONRESULT_BUS_ERROR;

-	} else if (tran->csw.dCSWTag != lunp->msdp->tag) {

-		uerrf("\tMSD: Status phase: wrong tag (expected %d, got %d)",

-				lunp->msdp->tag, tran->csw.dCSWTag);

-		return MSD_TRANSACTIONRESULT_SYNC_ERROR;

-	}

-

-	if (tran->csw.dCSWDataResidue) {

-		uwarnf("\tMSD: Residue=%d", tran->csw.dCSWDataResidue);

-	}

-

-	return MSD_TRANSACTIONRESULT_OK;

-}

-

-

-static msd_result_t scsi_inquiry(USBHMassStorageLUNDriver *lunp, scsi_inquiry_response_t *resp) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_inquiry_response_t);

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;

-	transaction.cbw.bCBWCBLength = 6;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_INQUIRY;

-	transaction.cbw.CBWCB[4] = sizeof(scsi_inquiry_response_t);

-

-	res.tres = _msd_transaction(&transaction, lunp, resp);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-static msd_result_t scsi_requestsense(USBHMassStorageLUNDriver *lunp, scsi_sense_response_t *resp) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_sense_response_t);

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;

-	transaction.cbw.bCBWCBLength = 12;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_REQUEST_SENSE;

-	transaction.cbw.CBWCB[4] = sizeof(scsi_sense_response_t);

-

-	res.tres = _msd_transaction(&transaction, lunp, resp);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-static msd_result_t scsi_testunitready(USBHMassStorageLUNDriver *lunp) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = 0;

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;

-	transaction.cbw.bCBWCBLength = 6;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_TEST_UNIT_READY;

-

-	res.tres = _msd_transaction(&transaction, lunp, NULL);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-static msd_result_t scsi_readcapacity10(USBHMassStorageLUNDriver *lunp, scsi_readcapacity10_response_t *resp) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_readcapacity10_response_t);

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;

-	transaction.cbw.bCBWCBLength = 12;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_READ_CAPACITY_10;

-

-	res.tres = _msd_transaction(&transaction, lunp, resp);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-

-static msd_result_t scsi_read10(USBHMassStorageLUNDriver *lunp, uint32_t lba, uint16_t n, uint8_t *data) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = n * lunp->info.blk_size;

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;

-	transaction.cbw.bCBWCBLength = 10;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_READ_10;

-	transaction.cbw.CBWCB[2] = (uint8_t)(lba >> 24);

-	transaction.cbw.CBWCB[3] = (uint8_t)(lba >> 16);

-	transaction.cbw.CBWCB[4] = (uint8_t)(lba >> 8);

-	transaction.cbw.CBWCB[5] = (uint8_t)(lba);

-	transaction.cbw.CBWCB[7] = (uint8_t)(n >> 8);

-	transaction.cbw.CBWCB[8] = (uint8_t)(n);

-

-	res.tres = _msd_transaction(&transaction, lunp, data);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-static msd_result_t scsi_write10(USBHMassStorageLUNDriver *lunp, uint32_t lba, uint16_t n, const uint8_t *data) {

-	msd_transaction_t transaction;

-	msd_result_t res;

-

-	_prepare_cbw(&transaction, lunp);

-	transaction.cbw.dCBWDataTransferLength = n * lunp->info.blk_size;

-	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_H2D;

-	transaction.cbw.bCBWCBLength = 10;

-	transaction.cbw.CBWCB[0] = SCSI_CMD_WRITE_10;

-	transaction.cbw.CBWCB[2] = (uint8_t)(lba >> 24);

-	transaction.cbw.CBWCB[3] = (uint8_t)(lba >> 16);

-	transaction.cbw.CBWCB[4] = (uint8_t)(lba >> 8);

-	transaction.cbw.CBWCB[5] = (uint8_t)(lba);

-	transaction.cbw.CBWCB[7] = (uint8_t)(n >> 8);

-	transaction.cbw.CBWCB[8] = (uint8_t)(n);

-

-	res.tres = _msd_transaction(&transaction, lunp, (uint8_t *)data);

-	if (res.tres == MSD_TRANSACTIONRESULT_OK) {

-		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;

-	}

-	return res;

-}

-

-

-

-/*===========================================================================*/

-/* Block driver data/functions								 		 	 	 */

-/*===========================================================================*/

-

-USBHMassStorageLUNDriver MSBLKD[HAL_USBHMSD_MAX_LUNS];

-

-static const struct USBHMassStorageDriverVMT blk_vmt = {

-	(bool (*)(void *))usbhmsdLUNIsInserted,

-	(bool (*)(void *))usbhmsdLUNIsProtected,

-	(bool (*)(void *))usbhmsdLUNConnect,

-	(bool (*)(void *))usbhmsdLUNDisconnect,

-	(bool (*)(void *, uint32_t, uint8_t *, uint32_t))usbhmsdLUNRead,

-	(bool (*)(void *, uint32_t,	const uint8_t *, uint32_t))usbhmsdLUNWrite,

-	(bool (*)(void *))usbhmsdLUNSync,

-	(bool (*)(void *, BlockDeviceInfo *))usbhmsdLUNGetInfo

-};

-

-

-

-static uint32_t _requestsense(USBHMassStorageLUNDriver *lunp) {

-	scsi_sense_response_t sense;

-	msd_result_t res;

-

-	res = scsi_requestsense(lunp, &sense);

-	if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-		uerr("\tREQUEST SENSE: Transaction error");

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-		uerr("\tREQUEST SENSE: Command Failed");

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-		//TODO: Do reset, etc.

-		uerr("\tREQUEST SENSE: Command Phase Error");

-		goto failed;

-	}

-

-	uerrf("\tREQUEST SENSE: Sense key=%x, ASC=%02x, ASCQ=%02x",

-			sense.byte[2] & 0xf, sense.byte[12], sense.byte[13]);

-

-	return (sense.byte[2] & 0xf) | (sense.byte[12] << 8) | (sense.byte[13] << 16);

-

-failed:

-	return 0xffffffff;

-}

-

-void usbhmsdLUNObjectInit(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	memset(lunp, 0, sizeof(*lunp));

-	lunp->vmt = &blk_vmt;

-	lunp->state = BLK_STOP;

-	/* Unnecessary because of the memset:

-		lunp->msdp = NULL;

-		lunp->next = NULL;

-		lunp->info.* = 0;

-	*/

-}

-

-void usbhmsdLUNStart(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	osalSysLock();

-	osalDbgAssert((lunp->state == BLK_STOP) || (lunp->state == BLK_ACTIVE),

-			"invalid state");

-	//TODO: complete

-	//lunp->state = BLK_ACTIVE;

-	osalSysUnlock();

-}

-

-void usbhmsdLUNStop(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	osalSysLock();

-	osalDbgAssert((lunp->state == BLK_STOP) || (lunp->state == BLK_ACTIVE),

-			"invalid state");

-	//TODO: complete

-	//lunp->state = BLK_STOP;

-	osalSysUnlock();

-}

-

-bool usbhmsdLUNConnect(USBHMassStorageLUNDriver *lunp) {

-	USBHMassStorageDriver *const msdp = lunp->msdp;

-	msd_result_t res;

-

-	osalDbgCheck(msdp != NULL);

-	osalSysLock();

-	//osalDbgAssert((lunp->state == BLK_ACTIVE) || (lunp->state == BLK_READY),

-    //            "invalid state");

-	if (lunp->state == BLK_READY) {

-	    osalSysUnlock();

-		return HAL_SUCCESS;

-	} else if (lunp->state != BLK_ACTIVE) {

-		osalSysUnlock();

-		return HAL_FAILED;

-	}

-	lunp->state = BLK_CONNECTING;

-    osalSysUnlock();

-

-    osalMutexLock(&msdp->mtx);

-

-    USBH_DEFINE_BUFFER(union {

-    		scsi_inquiry_response_t inq;

-    		scsi_readcapacity10_response_t cap;	}, u);

-

-	uinfo("INQUIRY...");

-	res = scsi_inquiry(lunp, &u.inq);

-	if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-		uerr("\tINQUIRY: Transaction error");

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-		uerr("\tINQUIRY: Command Failed");

-		_requestsense(lunp);

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-		//TODO: Do reset, etc.

-		uerr("\tINQUIRY: Command Phase Error");

-		goto failed;

-	}

-

-	uinfof("\tPDT=%02x", u.inq.peripheral & 0x1f);

-	if (u.inq.peripheral != 0) {

-		uerr("\tUnsupported PDT");

-		goto failed;

-	}

-

-	// Test if unit ready

-	uint8_t i;

-	for (i = 0; i < 10; i++) {

-		uinfo("TEST UNIT READY...");

-		res = scsi_testunitready(lunp);

-		if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-			uerr("\tTEST UNIT READY: Transaction error");

-			goto failed;

-		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-			uerr("\tTEST UNIT READY: Command Failed");

-			_requestsense(lunp);

-			continue;

-		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-			//TODO: Do reset, etc.

-			uerr("\tTEST UNIT READY: Command Phase Error");

-			goto failed;

-		}

-		uinfo("\tReady.");

-		break;

-		// osalThreadSleepMilliseconds(200); // will raise 'code is unreachable' warning

-	}

-	if (i == 10) goto failed;

-

-	// Read capacity

-	uinfo("READ CAPACITY(10)...");

-	res = scsi_readcapacity10(lunp, &u.cap);

-	if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-		uerr("\tREAD CAPACITY(10): Transaction error");

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-		uerr("\tREAD CAPACITY(10): Command Failed");

-		_requestsense(lunp);

-		goto failed;

-	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-		//TODO: Do reset, etc.

-		uerr("\tREAD CAPACITY(10): Command Phase Error");

-		goto failed;

-	}

-	lunp->info.blk_size = __REV(u.cap.block_size);

-	lunp->info.blk_num = __REV(u.cap.last_block_addr) + 1;

-	uinfof("\tBlock size=%dbytes, blocks=%u (~%u MB)", lunp->info.blk_size, lunp->info.blk_num,

-		(uint32_t)(((uint64_t)lunp->info.blk_size * lunp->info.blk_num) / (1024UL * 1024UL)));

-

-	uinfo("MSD Connected.");

-

-	osalMutexUnlock(&msdp->mtx);

-	osalSysLock();

-	lunp->state = BLK_READY;

-    osalSysUnlock();

-

-	return HAL_SUCCESS;

-

-  /* Connection failed, state reset to BLK_ACTIVE.*/

-failed:

-	osalMutexUnlock(&msdp->mtx);

-	osalSysLock();

-	lunp->state = BLK_ACTIVE;

-    osalSysUnlock();

-	return HAL_FAILED;

-}

-

-

-bool usbhmsdLUNDisconnect(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	osalSysLock();

-	osalDbgAssert((lunp->state == BLK_ACTIVE) || (lunp->state == BLK_READY),

-				"invalid state");

-	if (lunp->state == BLK_ACTIVE) {

-		osalSysUnlock();

-		return HAL_SUCCESS;

-	}

-	lunp->state = BLK_DISCONNECTING;

-	osalSysUnlock();

-

-	//TODO: complete

-

-	osalSysLock();

-	lunp->state = BLK_ACTIVE;

-	osalSysUnlock();

-	return HAL_SUCCESS;

-}

-

-bool usbhmsdLUNRead(USBHMassStorageLUNDriver *lunp, uint32_t startblk,

-                uint8_t *buffer, uint32_t n) {

-

-	osalDbgCheck(lunp != NULL);

-	bool ret = HAL_FAILED;

-	uint16_t blocks;

-	msd_result_t res;

-

-	osalSysLock();

-	if (lunp->state != BLK_READY) {

-		osalSysUnlock();

-		return ret;

-	}

-	lunp->state = BLK_READING;

-    osalSysUnlock();

-

-	osalMutexLock(&lunp->msdp->mtx);

-	while (n) {

-		if (n > 0xffff) {

-			blocks = 0xffff;

-		} else {

-			blocks = (uint16_t)n;

-		}

-		res = scsi_read10(lunp, startblk, blocks, buffer);

-		if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-			uerr("\tREAD (10): Transaction error");

-			goto exit;

-		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-			//TODO: request sense, and act appropriately

-			uerr("\tREAD (10): Command Failed");

-			_requestsense(lunp);

-			goto exit;

-		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-			//TODO: Do reset, etc.

-			uerr("\tREAD (10): Command Phase Error");

-			goto exit;

-		}

-		n -= blocks;

-		startblk += blocks;

-		buffer += blocks * lunp->info.blk_size;

-	}

-

-	ret = HAL_SUCCESS;

-

-exit:

-	osalMutexUnlock(&lunp->msdp->mtx);

-	osalSysLock();

-	if (lunp->state == BLK_READING) {

-		lunp->state = BLK_READY;

-	} else {

-		osalDbgCheck(lunp->state == BLK_STOP);

-		uwarn("MSD: State = BLK_STOP");

-	}

-    osalSysUnlock();

-	return ret;

-}

-

-bool usbhmsdLUNWrite(USBHMassStorageLUNDriver *lunp, uint32_t startblk,

-                const uint8_t *buffer, uint32_t n) {

-

-	osalDbgCheck(lunp != NULL);

-	bool ret = HAL_FAILED;

-	uint16_t blocks;

-	msd_result_t res;

-

-	osalSysLock();

-	if (lunp->state != BLK_READY) {

-		osalSysUnlock();

-		return ret;

-	}

-	lunp->state = BLK_WRITING;

-    osalSysUnlock();

-

-	osalMutexLock(&lunp->msdp->mtx);

-	while (n) {

-		if (n > 0xffff) {

-			blocks = 0xffff;

-		} else {

-			blocks = (uint16_t)n;

-		}

-		res = scsi_write10(lunp, startblk, blocks, buffer);

-		if (res.tres != MSD_TRANSACTIONRESULT_OK) {

-			uerr("\tWRITE (10): Transaction error");

-			goto exit;

-		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {

-			//TODO: request sense, and act appropriately

-			uerr("\tWRITE (10): Command Failed");

-			_requestsense(lunp);

-			goto exit;

-		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {

-			//TODO: Do reset, etc.

-			uerr("\tWRITE (10): Command Phase Error");

-			goto exit;

-		}

-		n -= blocks;

-		startblk += blocks;

-		buffer += blocks * lunp->info.blk_size;

-	}

-

-	ret = HAL_SUCCESS;

-

-exit:

-	osalMutexUnlock(&lunp->msdp->mtx);

-	osalSysLock();

-	if (lunp->state == BLK_WRITING) {

-		lunp->state = BLK_READY;

-	} else {

-		osalDbgCheck(lunp->state == BLK_STOP);

-		uwarn("MSD: State = BLK_STOP");

-	}

-	osalSysUnlock();

-	return ret;

-}

-

-bool usbhmsdLUNSync(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	(void)lunp;

-	//TODO: Do SCSI Sync

-	return HAL_SUCCESS;

-}

-

-bool usbhmsdLUNGetInfo(USBHMassStorageLUNDriver *lunp, BlockDeviceInfo *bdip) {

-	osalDbgCheck(lunp != NULL);

-	osalDbgCheck(bdip != NULL);

-	*bdip = lunp->info;

-	return HAL_SUCCESS;

-}

-

-bool usbhmsdLUNIsInserted(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	blkstate_t state;

-	osalSysLock();

-	state = lunp->state;

-	osalSysUnlock();

-	return (state >= BLK_ACTIVE);

-}

-

-bool usbhmsdLUNIsProtected(USBHMassStorageLUNDriver *lunp) {

-	osalDbgCheck(lunp != NULL);

-	return FALSE;

-}

-

-void usbhmsdObjectInit(USBHMassStorageDriver *msdp) {

-	osalDbgCheck(msdp != NULL);

-	memset(msdp, 0, sizeof(*msdp));

-	msdp->info = &usbhmsdClassDriverInfo;

-	osalMutexObjectInit(&msdp->mtx);

-}

-

-#endif

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "hal_usbh.h"
+
+#if HAL_USBH_USE_MSD
+
+#if !HAL_USE_USBH
+#error "USBHMSD needs USBH"
+#endif
+
+#include <string.h>
+#include "usbh/dev/msd.h"
+#include "usbh/internal.h"
+
+//#pragma GCC optimize("Og")
+
+
+#if USBHMSD_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBHMSD_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBHMSD_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBHMSD_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+
+
+
+
+/*===========================================================================*/
+/* USB Class driver loader for MSD								 		 	 */
+/*===========================================================================*/
+
+USBHMassStorageDriver USBHMSD[HAL_USBHMSD_MAX_INSTANCES];
+
+static usbh_baseclassdriver_t *_msd_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
+static void _msd_unload(usbh_baseclassdriver_t *drv);
+
+static const usbh_classdriver_vmt_t class_driver_vmt = {
+	_msd_load,
+	_msd_unload
+};
+
+const usbh_classdriverinfo_t usbhmsdClassDriverInfo = {
+	0x08, 0x06, 0x50, "MSD", &class_driver_vmt
+};
+
+#define MSD_REQ_RESET							0xFF
+#define MSD_GET_MAX_LUN							0xFE
+
+static usbh_baseclassdriver_t *_msd_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {
+	int i;
+	USBHMassStorageDriver *msdp;
+	uint8_t luns; // should declare it here to eliminate 'control bypass initialization' warning
+	usbh_urbstatus_t stat;  // should declare it here to eliminate 'control bypass initialization' warning
+
+	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))
+		return NULL;
+
+	const usbh_interface_descriptor_t * const ifdesc = (const usbh_interface_descriptor_t *)descriptor;
+
+	if ((ifdesc->bAlternateSetting != 0)
+			|| (ifdesc->bNumEndpoints < 2)
+			|| (ifdesc->bInterfaceSubClass != 0x06)
+			|| (ifdesc->bInterfaceProtocol != 0x50)) {
+		return NULL;
+	}
+
+	/* alloc driver */
+	for (i = 0; i < HAL_USBHMSD_MAX_INSTANCES; i++) {
+		if (USBHMSD[i].dev == NULL) {
+			msdp = &USBHMSD[i];
+			goto alloc_ok;
+		}
+	}
+
+	uwarn("Can't alloc MSD driver");
+
+	/* can't alloc */
+	return NULL;
+
+alloc_ok:
+	/* initialize the driver's variables */
+	msdp->epin.status = USBH_EPSTATUS_UNINITIALIZED;
+	msdp->epout.status = USBH_EPSTATUS_UNINITIALIZED;
+	msdp->max_lun = 0;
+	msdp->tag = 0;
+	msdp->luns = 0;
+	msdp->ifnum = ifdesc->bInterfaceNumber;
+	usbhEPSetName(&dev->ctrl, "MSD[CTRL]");
+
+	/* parse the configuration descriptor */
+	if_iterator_t iif;
+	generic_iterator_t iep;
+	iif.iad = 0;
+	iif.curr = descriptor;
+	iif.rem = rem;
+	for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+		const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+		if ((epdesc->bEndpointAddress & 0x80) && (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {
+			uinfof("BULK IN endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);
+			usbhEPObjectInit(&msdp->epin, dev, epdesc);
+			usbhEPSetName(&msdp->epin, "MSD[BIN ]");
+		} else if (((epdesc->bEndpointAddress & 0x80) == 0)
+				&& (epdesc->bmAttributes == USBH_EPTYPE_BULK)) {
+			uinfof("BULK OUT endpoint found: bEndpointAddress=%02x", epdesc->bEndpointAddress);
+			usbhEPObjectInit(&msdp->epout, dev, epdesc);
+			usbhEPSetName(&msdp->epout, "MSD[BOUT]");
+		} else {
+			uinfof("unsupported endpoint found: bEndpointAddress=%02x, bmAttributes=%02x",
+					epdesc->bEndpointAddress, epdesc->bmAttributes);
+		}
+	}
+	if ((msdp->epin.status != USBH_EPSTATUS_CLOSED) || (msdp->epout.status != USBH_EPSTATUS_CLOSED)) {
+		goto deinit;
+	}
+
+	/* read the number of LUNs */
+	uinfo("Reading Max LUN:");
+	USBH_DEFINE_BUFFER(uint8_t, buff[4]);
+	stat = usbhControlRequest(dev,
+			USBH_CLASSIN(USBH_REQTYPE_INTERFACE, MSD_GET_MAX_LUN, 0, msdp->ifnum),
+			1, buff);
+	if (stat == USBH_URBSTATUS_OK) {
+		msdp->max_lun = buff[0] + 1;
+		uinfof("\tmax_lun = %d", msdp->max_lun);
+		if (msdp->max_lun > HAL_USBHMSD_MAX_LUNS) {
+			msdp->max_lun = HAL_USBHMSD_MAX_LUNS;
+			uwarnf("\tUsing max_lun = %d", msdp->max_lun);
+		}
+	} else if (stat == USBH_URBSTATUS_STALL) {
+		uwarn("\tStall, max_lun = 1");
+		msdp->max_lun = 1;
+	} else {
+		uerr("\tError");
+		goto deinit;
+	}
+
+	/* open the bulk IN/OUT endpoints */
+	usbhEPOpen(&msdp->epin);
+	usbhEPOpen(&msdp->epout);
+
+	/* Alloc one block device per logical unit found */
+	luns = msdp->max_lun;
+	for (i = 0; (luns > 0) && (i < HAL_USBHMSD_MAX_LUNS); i++) {
+		if (MSBLKD[i].msdp == NULL) {
+			/* link the new block driver to the list */
+			MSBLKD[i].next = msdp->luns;
+			msdp->luns = &MSBLKD[i];
+			MSBLKD[i].msdp = msdp;
+
+			osalSysLock();
+			MSBLKD[i].state = BLK_ACTIVE;	/* transition directly to active, instead of BLK_STOP */
+			osalSysUnlock();
+
+			/* connect the LUN (TODO: review if it's best to leave the LUN disconnected) */
+			usbhmsdLUNConnect(&MSBLKD[i]);
+			luns--;
+		}
+	}
+
+	return (usbh_baseclassdriver_t *)msdp;
+
+deinit:
+	/* Here, the enpoints are closed, and the driver is unlinked */
+	return NULL;
+}
+
+static void _msd_unload(usbh_baseclassdriver_t *drv) {
+	osalDbgCheck(drv != NULL);
+	USBHMassStorageDriver *const msdp = (USBHMassStorageDriver *)drv;
+	USBHMassStorageLUNDriver *lunp = msdp->luns;
+
+	osalMutexLock(&msdp->mtx);
+	osalSysLock();
+	usbhEPCloseS(&msdp->epin);
+	usbhEPCloseS(&msdp->epout);
+	while (lunp) {
+		lunp->state = BLK_STOP;
+		lunp = lunp->next;
+	}
+	osalSysUnlock();
+	osalMutexUnlock(&msdp->mtx);
+
+	/* now that the LUNs are idle, deinit them */
+	lunp = msdp->luns;
+	osalSysLock();
+	while (lunp) {
+		usbhmsdLUNObjectInit(lunp);
+		lunp = lunp->next;
+	}
+	osalSysUnlock();
+}
+
+
+/*===========================================================================*/
+/* MSD Class driver operations (Bulk-Only transport)			 		 	 */
+/*===========================================================================*/
+
+
+
+/* USB Bulk Only Transport SCSI Command block wrapper */
+PACKED_STRUCT {
+	uint32_t dCBWSignature;
+	uint32_t dCBWTag;
+	uint32_t dCBWDataTransferLength;
+	uint8_t bmCBWFlags;
+	uint8_t bCBWLUN;
+	uint8_t bCBWCBLength;
+	uint8_t CBWCB[16];
+} msd_cbw_t;
+#define MSD_CBW_SIGNATURE						0x43425355
+#define MSD_CBWFLAGS_D2H						0x80
+#define MSD_CBWFLAGS_H2D						0x00
+
+
+/* USB Bulk Only Transport SCSI Command status wrapper */
+PACKED_STRUCT {
+	uint32_t dCSWSignature;
+	uint32_t dCSWTag;
+	uint32_t dCSWDataResidue;
+	uint8_t bCSWStatus;
+} msd_csw_t;
+#define MSD_CSW_SIGNATURE						0x53425355
+
+
+typedef union {
+	msd_cbw_t cbw;
+	msd_csw_t csw;
+} msd_transaction_t;
+
+typedef enum {
+	MSD_TRANSACTIONRESULT_OK,
+	MSD_TRANSACTIONRESULT_DISCONNECTED,
+	MSD_TRANSACTIONRESULT_STALL,
+	MSD_TRANSACTIONRESULT_BUS_ERROR,
+	MSD_TRANSACTIONRESULT_SYNC_ERROR
+} msd_transaction_result_t;
+
+typedef enum {
+	MSD_COMMANDRESULT_PASSED = 0,
+	MSD_COMMANDRESULT_FAILED = 1,
+	MSD_COMMANDRESULT_PHASE_ERROR = 2
+} msd_command_result_t;
+
+typedef struct {
+	msd_transaction_result_t tres;
+	msd_command_result_t cres;
+} msd_result_t;
+
+
+/* ----------------------------------------------------- */
+/* 			SCSI Commands 								*/
+/* ----------------------------------------------------- */
+
+/* Read 10 and Write 10 */
+#define SCSI_CMD_READ_10 						0x28
+#define SCSI_CMD_WRITE_10						0x2A
+
+/* Request sense */
+#define SCSI_CMD_REQUEST_SENSE 					0x03
+PACKED_STRUCT {
+	uint8_t byte[18];
+} scsi_sense_response_t;
+
+#define SCSI_SENSE_KEY_GOOD                     0x00
+#define SCSI_SENSE_KEY_RECOVERED_ERROR          0x01
+#define SCSI_SENSE_KEY_NOT_READY                0x02
+#define SCSI_SENSE_KEY_MEDIUM_ERROR             0x03
+#define SCSI_SENSE_KEY_HARDWARE_ERROR           0x04
+#define SCSI_SENSE_KEY_ILLEGAL_REQUEST          0x05
+#define SCSI_SENSE_KEY_UNIT_ATTENTION           0x06
+#define SCSI_SENSE_KEY_DATA_PROTECT             0x07
+#define SCSI_SENSE_KEY_BLANK_CHECK              0x08
+#define SCSI_SENSE_KEY_VENDOR_SPECIFIC          0x09
+#define SCSI_SENSE_KEY_COPY_ABORTED             0x0A
+#define SCSI_SENSE_KEY_ABORTED_COMMAND          0x0B
+#define SCSI_SENSE_KEY_VOLUME_OVERFLOW          0x0D
+#define SCSI_SENSE_KEY_MISCOMPARE               0x0E
+#define SCSI_ASENSE_NO_ADDITIONAL_INFORMATION   0x00
+#define SCSI_ASENSE_LOGICAL_UNIT_NOT_READY      0x04
+#define SCSI_ASENSE_INVALID_FIELD_IN_CDB        0x24
+#define SCSI_ASENSE_NOT_READY_TO_READY_CHANGE   0x28
+#define SCSI_ASENSE_WRITE_PROTECTED             0x27
+#define SCSI_ASENSE_FORMAT_ERROR                0x31
+#define SCSI_ASENSE_INVALID_COMMAND             0x20
+#define SCSI_ASENSE_LOGICAL_BLOCK_ADDRESS_OUT_OF_RANGE 0x21
+#define SCSI_ASENSE_MEDIUM_NOT_PRESENT                 0x3A
+#define SCSI_ASENSEQ_NO_QUALIFIER                      0x00
+#define SCSI_ASENSEQ_FORMAT_COMMAND_FAILED             0x01
+#define SCSI_ASENSEQ_INITIALIZING_COMMAND_REQUIRED     0x02
+#define SCSI_ASENSEQ_OPERATION_IN_PROGRESS             0x07
+
+/* Inquiry */
+#define SCSI_CMD_INQUIRY 						0x12
+PACKED_STRUCT {
+	uint8_t peripheral;
+	uint8_t removable;
+	uint8_t version;
+	uint8_t response_data_format;
+	uint8_t additional_length;
+	uint8_t sccstp;
+	uint8_t bqueetc;
+	uint8_t cmdque;
+	uint8_t vendorID[8];
+	uint8_t productID[16];
+	uint8_t productRev[4];
+} scsi_inquiry_response_t;
+
+/* Read Capacity 10 */
+#define SCSI_CMD_READ_CAPACITY_10				0x25
+PACKED_STRUCT {
+	uint32_t last_block_addr;
+	uint32_t block_size;
+} scsi_readcapacity10_response_t;
+
+/* Start/Stop Unit */
+#define SCSI_CMD_START_STOP_UNIT				0x1B
+PACKED_STRUCT {
+	uint8_t op_code;
+	uint8_t lun_immed;
+	uint8_t res1;
+	uint8_t res2;
+	uint8_t loej_start;
+	uint8_t control;
+} scsi_startstopunit_request_t;
+
+/* test unit ready */
+#define SCSI_CMD_TEST_UNIT_READY				0x00
+
+/* Other commands, TODO: use or remove them
+#define SCSI_CMD_PREVENT_ALLOW_MEDIUM_REMOVAL	0x1E
+#define SCSI_CMD_VERIFY_10						0x2F
+#define SCSI_CMD_SEND_DIAGNOSTIC				0x1D
+#define SCSI_CMD_MODE_SENSE_6                   0x1A
+*/
+
+static inline void _prepare_cbw(msd_transaction_t *tran, USBHMassStorageLUNDriver *lunp) {
+	tran->cbw.bCBWLUN = (uint8_t)(lunp - &lunp->msdp->luns[0]);
+	memset(&tran->cbw.CBWCB, 0, sizeof(tran->cbw.CBWCB));
+}
+
+static msd_transaction_result_t _msd_transaction(msd_transaction_t *tran, USBHMassStorageLUNDriver *lunp, void *data) {
+
+	uint32_t actual_len;
+	usbh_urbstatus_t status;
+
+	tran->cbw.dCBWSignature = MSD_CBW_SIGNATURE;
+	tran->cbw.dCBWTag = ++lunp->msdp->tag;
+
+	/* control phase */
+	status = usbhBulkTransfer(&lunp->msdp->epout, &tran->cbw,
+					sizeof(tran->cbw), &actual_len, MS2ST(1000));
+
+	if (status == USBH_URBSTATUS_CANCELLED) {
+		uerr("\tMSD: Control phase: USBH_URBSTATUS_CANCELLED");
+		return MSD_TRANSACTIONRESULT_DISCONNECTED;
+	} else if (status == USBH_URBSTATUS_STALL) {
+		uerr("\tMSD: Control phase: USBH_URBSTATUS_STALL");
+		return MSD_TRANSACTIONRESULT_STALL;
+	} else if (status != USBH_URBSTATUS_OK) {
+		uerrf("\tMSD: Control phase: status = %d, != OK", status);
+		return MSD_TRANSACTIONRESULT_BUS_ERROR;
+	} else if (actual_len != sizeof(tran->cbw)) {
+		uerrf("\tMSD: Control phase: wrong actual_len = %d", actual_len);
+		return MSD_TRANSACTIONRESULT_BUS_ERROR;
+	}
+
+
+	/* data phase */
+	if (tran->cbw.dCBWDataTransferLength) {
+		status = usbhBulkTransfer(
+				tran->cbw.bmCBWFlags & MSD_CBWFLAGS_D2H ? &lunp->msdp->epin : &lunp->msdp->epout,
+				data,
+				tran->cbw.dCBWDataTransferLength,
+				&actual_len, MS2ST(20000));
+
+		if (status == USBH_URBSTATUS_CANCELLED) {
+			uerr("\tMSD: Data phase: USBH_URBSTATUS_CANCELLED");
+			return MSD_TRANSACTIONRESULT_DISCONNECTED;
+		} else if (status == USBH_URBSTATUS_STALL) {
+			uerr("\tMSD: Data phase: USBH_URBSTATUS_STALL");
+			return MSD_TRANSACTIONRESULT_STALL;
+		} else if (status != USBH_URBSTATUS_OK) {
+			uerrf("\tMSD: Data phase: status = %d, != OK", status);
+			return MSD_TRANSACTIONRESULT_BUS_ERROR;
+		} else if (actual_len != tran->cbw.dCBWDataTransferLength) {
+			uerrf("\tMSD: Data phase: wrong actual_len = %d", actual_len);
+			return MSD_TRANSACTIONRESULT_BUS_ERROR;
+		}
+	}
+
+
+	/* status phase */
+	status = usbhBulkTransfer(&lunp->msdp->epin, &tran->csw,
+			sizeof(tran->csw), &actual_len, MS2ST(1000));
+
+	if (status == USBH_URBSTATUS_CANCELLED) {
+		uerr("\tMSD: Status phase: USBH_URBSTATUS_CANCELLED");
+		return MSD_TRANSACTIONRESULT_DISCONNECTED;
+	} else if (status == USBH_URBSTATUS_STALL) {
+		uerr("\tMSD: Status phase: USBH_URBSTATUS_STALL");
+		return MSD_TRANSACTIONRESULT_STALL;
+	} else if (status != USBH_URBSTATUS_OK) {
+		uerrf("\tMSD: Status phase: status = %d, != OK", status);
+		return MSD_TRANSACTIONRESULT_BUS_ERROR;
+	} else if (actual_len != sizeof(tran->csw)) {
+		uerrf("\tMSD: Status phase: wrong actual_len = %d", actual_len);
+		return MSD_TRANSACTIONRESULT_BUS_ERROR;
+	} else if (tran->csw.dCSWSignature != MSD_CSW_SIGNATURE) {
+		uerr("\tMSD: Status phase: wrong signature");
+		return MSD_TRANSACTIONRESULT_BUS_ERROR;
+	} else if (tran->csw.dCSWTag != lunp->msdp->tag) {
+		uerrf("\tMSD: Status phase: wrong tag (expected %d, got %d)",
+				lunp->msdp->tag, tran->csw.dCSWTag);
+		return MSD_TRANSACTIONRESULT_SYNC_ERROR;
+	}
+
+	if (tran->csw.dCSWDataResidue) {
+		uwarnf("\tMSD: Residue=%d", tran->csw.dCSWDataResidue);
+	}
+
+	return MSD_TRANSACTIONRESULT_OK;
+}
+
+
+static msd_result_t scsi_inquiry(USBHMassStorageLUNDriver *lunp, scsi_inquiry_response_t *resp) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_inquiry_response_t);
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;
+	transaction.cbw.bCBWCBLength = 6;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_INQUIRY;
+	transaction.cbw.CBWCB[4] = sizeof(scsi_inquiry_response_t);
+
+	res.tres = _msd_transaction(&transaction, lunp, resp);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+static msd_result_t scsi_requestsense(USBHMassStorageLUNDriver *lunp, scsi_sense_response_t *resp) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_sense_response_t);
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;
+	transaction.cbw.bCBWCBLength = 12;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_REQUEST_SENSE;
+	transaction.cbw.CBWCB[4] = sizeof(scsi_sense_response_t);
+
+	res.tres = _msd_transaction(&transaction, lunp, resp);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+static msd_result_t scsi_testunitready(USBHMassStorageLUNDriver *lunp) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = 0;
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;
+	transaction.cbw.bCBWCBLength = 6;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_TEST_UNIT_READY;
+
+	res.tres = _msd_transaction(&transaction, lunp, NULL);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+static msd_result_t scsi_readcapacity10(USBHMassStorageLUNDriver *lunp, scsi_readcapacity10_response_t *resp) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = sizeof(scsi_readcapacity10_response_t);
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;
+	transaction.cbw.bCBWCBLength = 12;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_READ_CAPACITY_10;
+
+	res.tres = _msd_transaction(&transaction, lunp, resp);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+
+static msd_result_t scsi_read10(USBHMassStorageLUNDriver *lunp, uint32_t lba, uint16_t n, uint8_t *data) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = n * lunp->info.blk_size;
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_D2H;
+	transaction.cbw.bCBWCBLength = 10;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_READ_10;
+	transaction.cbw.CBWCB[2] = (uint8_t)(lba >> 24);
+	transaction.cbw.CBWCB[3] = (uint8_t)(lba >> 16);
+	transaction.cbw.CBWCB[4] = (uint8_t)(lba >> 8);
+	transaction.cbw.CBWCB[5] = (uint8_t)(lba);
+	transaction.cbw.CBWCB[7] = (uint8_t)(n >> 8);
+	transaction.cbw.CBWCB[8] = (uint8_t)(n);
+
+	res.tres = _msd_transaction(&transaction, lunp, data);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+static msd_result_t scsi_write10(USBHMassStorageLUNDriver *lunp, uint32_t lba, uint16_t n, const uint8_t *data) {
+	msd_transaction_t transaction;
+	msd_result_t res;
+
+	_prepare_cbw(&transaction, lunp);
+	transaction.cbw.dCBWDataTransferLength = n * lunp->info.blk_size;
+	transaction.cbw.bmCBWFlags = MSD_CBWFLAGS_H2D;
+	transaction.cbw.bCBWCBLength = 10;
+	transaction.cbw.CBWCB[0] = SCSI_CMD_WRITE_10;
+	transaction.cbw.CBWCB[2] = (uint8_t)(lba >> 24);
+	transaction.cbw.CBWCB[3] = (uint8_t)(lba >> 16);
+	transaction.cbw.CBWCB[4] = (uint8_t)(lba >> 8);
+	transaction.cbw.CBWCB[5] = (uint8_t)(lba);
+	transaction.cbw.CBWCB[7] = (uint8_t)(n >> 8);
+	transaction.cbw.CBWCB[8] = (uint8_t)(n);
+
+	res.tres = _msd_transaction(&transaction, lunp, (uint8_t *)data);
+	if (res.tres == MSD_TRANSACTIONRESULT_OK) {
+		res.cres = (msd_command_result_t) transaction.csw.bCSWStatus;
+	}
+	return res;
+}
+
+
+
+/*===========================================================================*/
+/* Block driver data/functions								 		 	 	 */
+/*===========================================================================*/
+
+USBHMassStorageLUNDriver MSBLKD[HAL_USBHMSD_MAX_LUNS];
+
+static const struct USBHMassStorageDriverVMT blk_vmt = {
+	(bool (*)(void *))usbhmsdLUNIsInserted,
+	(bool (*)(void *))usbhmsdLUNIsProtected,
+	(bool (*)(void *))usbhmsdLUNConnect,
+	(bool (*)(void *))usbhmsdLUNDisconnect,
+	(bool (*)(void *, uint32_t, uint8_t *, uint32_t))usbhmsdLUNRead,
+	(bool (*)(void *, uint32_t,	const uint8_t *, uint32_t))usbhmsdLUNWrite,
+	(bool (*)(void *))usbhmsdLUNSync,
+	(bool (*)(void *, BlockDeviceInfo *))usbhmsdLUNGetInfo
+};
+
+
+
+static uint32_t _requestsense(USBHMassStorageLUNDriver *lunp) {
+	scsi_sense_response_t sense;
+	msd_result_t res;
+
+	res = scsi_requestsense(lunp, &sense);
+	if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+		uerr("\tREQUEST SENSE: Transaction error");
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+		uerr("\tREQUEST SENSE: Command Failed");
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+		//TODO: Do reset, etc.
+		uerr("\tREQUEST SENSE: Command Phase Error");
+		goto failed;
+	}
+
+	uerrf("\tREQUEST SENSE: Sense key=%x, ASC=%02x, ASCQ=%02x",
+			sense.byte[2] & 0xf, sense.byte[12], sense.byte[13]);
+
+	return (sense.byte[2] & 0xf) | (sense.byte[12] << 8) | (sense.byte[13] << 16);
+
+failed:
+	return 0xffffffff;
+}
+
+void usbhmsdLUNObjectInit(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	memset(lunp, 0, sizeof(*lunp));
+	lunp->vmt = &blk_vmt;
+	lunp->state = BLK_STOP;
+	/* Unnecessary because of the memset:
+		lunp->msdp = NULL;
+		lunp->next = NULL;
+		lunp->info.* = 0;
+	*/
+}
+
+void usbhmsdLUNStart(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	osalSysLock();
+	osalDbgAssert((lunp->state == BLK_STOP) || (lunp->state == BLK_ACTIVE),
+			"invalid state");
+	//TODO: complete
+	//lunp->state = BLK_ACTIVE;
+	osalSysUnlock();
+}
+
+void usbhmsdLUNStop(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	osalSysLock();
+	osalDbgAssert((lunp->state == BLK_STOP) || (lunp->state == BLK_ACTIVE),
+			"invalid state");
+	//TODO: complete
+	//lunp->state = BLK_STOP;
+	osalSysUnlock();
+}
+
+bool usbhmsdLUNConnect(USBHMassStorageLUNDriver *lunp) {
+	USBHMassStorageDriver *const msdp = lunp->msdp;
+	msd_result_t res;
+
+	osalDbgCheck(msdp != NULL);
+	osalSysLock();
+	//osalDbgAssert((lunp->state == BLK_ACTIVE) || (lunp->state == BLK_READY),
+    //            "invalid state");
+	if (lunp->state == BLK_READY) {
+	    osalSysUnlock();
+		return HAL_SUCCESS;
+	} else if (lunp->state != BLK_ACTIVE) {
+		osalSysUnlock();
+		return HAL_FAILED;
+	}
+	lunp->state = BLK_CONNECTING;
+    osalSysUnlock();
+
+    osalMutexLock(&msdp->mtx);
+
+    USBH_DEFINE_BUFFER(union {
+    		scsi_inquiry_response_t inq;
+    		scsi_readcapacity10_response_t cap;	}, u);
+
+	uinfo("INQUIRY...");
+	res = scsi_inquiry(lunp, &u.inq);
+	if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+		uerr("\tINQUIRY: Transaction error");
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+		uerr("\tINQUIRY: Command Failed");
+		_requestsense(lunp);
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+		//TODO: Do reset, etc.
+		uerr("\tINQUIRY: Command Phase Error");
+		goto failed;
+	}
+
+	uinfof("\tPDT=%02x", u.inq.peripheral & 0x1f);
+	if (u.inq.peripheral != 0) {
+		uerr("\tUnsupported PDT");
+		goto failed;
+	}
+
+	// Test if unit ready
+	uint8_t i;
+	for (i = 0; i < 10; i++) {
+		uinfo("TEST UNIT READY...");
+		res = scsi_testunitready(lunp);
+		if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+			uerr("\tTEST UNIT READY: Transaction error");
+			goto failed;
+		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+			uerr("\tTEST UNIT READY: Command Failed");
+			_requestsense(lunp);
+			continue;
+		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+			//TODO: Do reset, etc.
+			uerr("\tTEST UNIT READY: Command Phase Error");
+			goto failed;
+		}
+		uinfo("\tReady.");
+		break;
+		// osalThreadSleepMilliseconds(200); // will raise 'code is unreachable' warning
+	}
+	if (i == 10) goto failed;
+
+	// Read capacity
+	uinfo("READ CAPACITY(10)...");
+	res = scsi_readcapacity10(lunp, &u.cap);
+	if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+		uerr("\tREAD CAPACITY(10): Transaction error");
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+		uerr("\tREAD CAPACITY(10): Command Failed");
+		_requestsense(lunp);
+		goto failed;
+	} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+		//TODO: Do reset, etc.
+		uerr("\tREAD CAPACITY(10): Command Phase Error");
+		goto failed;
+	}
+	lunp->info.blk_size = __REV(u.cap.block_size);
+	lunp->info.blk_num = __REV(u.cap.last_block_addr) + 1;
+	uinfof("\tBlock size=%dbytes, blocks=%u (~%u MB)", lunp->info.blk_size, lunp->info.blk_num,
+		(uint32_t)(((uint64_t)lunp->info.blk_size * lunp->info.blk_num) / (1024UL * 1024UL)));
+
+	uinfo("MSD Connected.");
+
+	osalMutexUnlock(&msdp->mtx);
+	osalSysLock();
+	lunp->state = BLK_READY;
+    osalSysUnlock();
+
+	return HAL_SUCCESS;
+
+  /* Connection failed, state reset to BLK_ACTIVE.*/
+failed:
+	osalMutexUnlock(&msdp->mtx);
+	osalSysLock();
+	lunp->state = BLK_ACTIVE;
+    osalSysUnlock();
+	return HAL_FAILED;
+}
+
+
+bool usbhmsdLUNDisconnect(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	osalSysLock();
+	osalDbgAssert((lunp->state == BLK_ACTIVE) || (lunp->state == BLK_READY),
+				"invalid state");
+	if (lunp->state == BLK_ACTIVE) {
+		osalSysUnlock();
+		return HAL_SUCCESS;
+	}
+	lunp->state = BLK_DISCONNECTING;
+	osalSysUnlock();
+
+	//TODO: complete
+
+	osalSysLock();
+	lunp->state = BLK_ACTIVE;
+	osalSysUnlock();
+	return HAL_SUCCESS;
+}
+
+bool usbhmsdLUNRead(USBHMassStorageLUNDriver *lunp, uint32_t startblk,
+                uint8_t *buffer, uint32_t n) {
+
+	osalDbgCheck(lunp != NULL);
+	bool ret = HAL_FAILED;
+	uint16_t blocks;
+	msd_result_t res;
+
+	osalSysLock();
+	if (lunp->state != BLK_READY) {
+		osalSysUnlock();
+		return ret;
+	}
+	lunp->state = BLK_READING;
+    osalSysUnlock();
+
+	osalMutexLock(&lunp->msdp->mtx);
+	while (n) {
+		if (n > 0xffff) {
+			blocks = 0xffff;
+		} else {
+			blocks = (uint16_t)n;
+		}
+		res = scsi_read10(lunp, startblk, blocks, buffer);
+		if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+			uerr("\tREAD (10): Transaction error");
+			goto exit;
+		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+			//TODO: request sense, and act appropriately
+			uerr("\tREAD (10): Command Failed");
+			_requestsense(lunp);
+			goto exit;
+		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+			//TODO: Do reset, etc.
+			uerr("\tREAD (10): Command Phase Error");
+			goto exit;
+		}
+		n -= blocks;
+		startblk += blocks;
+		buffer += blocks * lunp->info.blk_size;
+	}
+
+	ret = HAL_SUCCESS;
+
+exit:
+	osalMutexUnlock(&lunp->msdp->mtx);
+	osalSysLock();
+	if (lunp->state == BLK_READING) {
+		lunp->state = BLK_READY;
+	} else {
+		osalDbgCheck(lunp->state == BLK_STOP);
+		uwarn("MSD: State = BLK_STOP");
+	}
+    osalSysUnlock();
+	return ret;
+}
+
+bool usbhmsdLUNWrite(USBHMassStorageLUNDriver *lunp, uint32_t startblk,
+                const uint8_t *buffer, uint32_t n) {
+
+	osalDbgCheck(lunp != NULL);
+	bool ret = HAL_FAILED;
+	uint16_t blocks;
+	msd_result_t res;
+
+	osalSysLock();
+	if (lunp->state != BLK_READY) {
+		osalSysUnlock();
+		return ret;
+	}
+	lunp->state = BLK_WRITING;
+    osalSysUnlock();
+
+	osalMutexLock(&lunp->msdp->mtx);
+	while (n) {
+		if (n > 0xffff) {
+			blocks = 0xffff;
+		} else {
+			blocks = (uint16_t)n;
+		}
+		res = scsi_write10(lunp, startblk, blocks, buffer);
+		if (res.tres != MSD_TRANSACTIONRESULT_OK) {
+			uerr("\tWRITE (10): Transaction error");
+			goto exit;
+		} else if (res.cres == MSD_COMMANDRESULT_FAILED) {
+			//TODO: request sense, and act appropriately
+			uerr("\tWRITE (10): Command Failed");
+			_requestsense(lunp);
+			goto exit;
+		} else if (res.cres == MSD_COMMANDRESULT_PHASE_ERROR) {
+			//TODO: Do reset, etc.
+			uerr("\tWRITE (10): Command Phase Error");
+			goto exit;
+		}
+		n -= blocks;
+		startblk += blocks;
+		buffer += blocks * lunp->info.blk_size;
+	}
+
+	ret = HAL_SUCCESS;
+
+exit:
+	osalMutexUnlock(&lunp->msdp->mtx);
+	osalSysLock();
+	if (lunp->state == BLK_WRITING) {
+		lunp->state = BLK_READY;
+	} else {
+		osalDbgCheck(lunp->state == BLK_STOP);
+		uwarn("MSD: State = BLK_STOP");
+	}
+	osalSysUnlock();
+	return ret;
+}
+
+bool usbhmsdLUNSync(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	(void)lunp;
+	//TODO: Do SCSI Sync
+	return HAL_SUCCESS;
+}
+
+bool usbhmsdLUNGetInfo(USBHMassStorageLUNDriver *lunp, BlockDeviceInfo *bdip) {
+	osalDbgCheck(lunp != NULL);
+	osalDbgCheck(bdip != NULL);
+	*bdip = lunp->info;
+	return HAL_SUCCESS;
+}
+
+bool usbhmsdLUNIsInserted(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	blkstate_t state;
+	osalSysLock();
+	state = lunp->state;
+	osalSysUnlock();
+	return (state >= BLK_ACTIVE);
+}
+
+bool usbhmsdLUNIsProtected(USBHMassStorageLUNDriver *lunp) {
+	osalDbgCheck(lunp != NULL);
+	return FALSE;
+}
+
+void usbhmsdObjectInit(USBHMassStorageDriver *msdp) {
+	osalDbgCheck(msdp != NULL);
+	memset(msdp, 0, sizeof(*msdp));
+	msdp->info = &usbhmsdClassDriverInfo;
+	osalMutexObjectInit(&msdp->mtx);
+}
+
+#endif
diff --git a/os/hal/src/usbh/usbh_uvc.c b/os/hal/src/usbh/hal_usbh_uvc.c
index 2fb2563..09a0f1d 100644
--- a/os/hal/src/usbh/usbh_uvc.c
+++ b/os/hal/src/usbh/hal_usbh_uvc.c
@@ -1,89 +1,89 @@
-/*

-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

-              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-#include "hal.h"

-#include "usbh.h"

-

-#if HAL_USBH_USE_UVC

-

-#if !HAL_USE_USBH

-#error "USBHUVC needs HAL_USE_USBH"

-#endif

-

-#if !HAL_USBH_USE_IAD

-#error "USBHUVC needs HAL_USBH_USE_IAD"

-#endif

-

-#if USBHUVC_DEBUG_ENABLE_TRACE

-#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define udbgf(f, ...)  do {} while(0)

-#define udbg(f, ...)   do {} while(0)

-#endif

-

-#if USBHUVC_DEBUG_ENABLE_INFO

-#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uinfof(f, ...)  do {} while(0)

-#define uinfo(f, ...)   do {} while(0)

-#endif

-

-#if USBHUVC_DEBUG_ENABLE_WARNINGS

-#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uwarnf(f, ...)  do {} while(0)

-#define uwarn(f, ...)   do {} while(0)

-#endif

-

-#if USBHUVC_DEBUG_ENABLE_ERRORS

-#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)

-#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)

-#else

-#define uerrf(f, ...)  do {} while(0)

-#define uerr(f, ...)   do {} while(0)

-#endif

-

-

-static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev,

-		const uint8_t *descriptor, uint16_t rem);

-static void uvc_unload(usbh_baseclassdriver_t *drv);

-

-static const usbh_classdriver_vmt_t class_driver_vmt = {

-	uvc_load,

-	uvc_unload

-};

-const usbh_classdriverinfo_t usbhuvcClassDriverInfo = {

-	0x0e, 0x03, 0x00, "UVC", &class_driver_vmt

-};

-

-

-static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {

-	(void)dev;

-	(void)descriptor;

-	(void)rem;

-	return NULL;

-}

-

-static void uvc_unload(usbh_baseclassdriver_t *drv) {

-	(void)drv;

-}

-

-#endif

-

+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "hal_usbh.h"
+
+#if HAL_USBH_USE_UVC
+
+#if !HAL_USE_USBH
+#error "USBHUVC needs HAL_USE_USBH"
+#endif
+
+#if !HAL_USBH_USE_IAD
+#error "USBHUVC needs HAL_USBH_USE_IAD"
+#endif
+
+#if USBHUVC_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBHUVC_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBHUVC_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBHUVC_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+
+static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev,
+		const uint8_t *descriptor, uint16_t rem);
+static void uvc_unload(usbh_baseclassdriver_t *drv);
+
+static const usbh_classdriver_vmt_t class_driver_vmt = {
+	uvc_load,
+	uvc_unload
+};
+const usbh_classdriverinfo_t usbhuvcClassDriverInfo = {
+	0x0e, 0x03, 0x00, "UVC", &class_driver_vmt
+};
+
+
+static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {
+	(void)dev;
+	(void)descriptor;
+	(void)rem;
+	return NULL;
+}
+
+static void uvc_unload(usbh_baseclassdriver_t *drv) {
+	(void)drv;
+}
+
+#endif
+