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USB_Host_Shield_2.0/usbhost.h
Jun Wako e43f86ad33 Improve plugin detection in busprobe() 
MAX3421E CONDETIRQ fails to detect device plugging sometimes,
we have to check bus lines regularly during bus state is SE0
to know device insertion.
https://github.com/tmk/USB_Host_Shield_2.0/issues/9
2021-07-25 17:32:45 +09:00

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/* Copyright (C) 2011 Circuits At Home, LTD. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Contact information
-------------------
Circuits At Home, LTD
Web : http://www.circuitsathome.com
e-mail : support@circuitsathome.com
*/
/* MAX3421E-based USB Host Library header file */
#if !defined(_usb_h_) || defined(_USBHOST_H_)
#error "Never include usbhost.h directly; include Usb.h instead"
#else
#define _USBHOST_H_
#if USING_SPI4TEENSY3
#include <spi4teensy3.h>
#include <sys/types.h>
#endif
/* SPI initialization */
template< typename SPI_CLK, typename SPI_MOSI, typename SPI_MISO, typename SPI_SS > class SPi {
public:
#if USING_SPI4TEENSY3
static void init() {
// spi4teensy3 inits everything for us, except /SS
// CLK, MOSI and MISO are hard coded for now.
// spi4teensy3::init(0,0,0); // full speed, cpol 0, cpha 0
spi4teensy3::init(); // full speed, cpol 0, cpha 0
SPI_SS::SetDirWrite();
SPI_SS::Set();
}
#elif defined(SPI_HAS_TRANSACTION)
static void init() {
USB_SPI.begin(); // The SPI library with transaction will take care of setting up the pins - settings is set in beginTransaction()
SPI_SS::SetDirWrite();
SPI_SS::Set();
}
#elif defined(STM32F4)
#warning "You need to initialize the SPI interface manually when using the STM32F4 platform"
static void init() {
// Should be initialized by the user manually for now
}
#elif !defined(SPDR)
static void init() {
SPI_SS::SetDirWrite();
SPI_SS::Set();
USB_SPI.begin();
#if defined(__MIPSEL__)
USB_SPI.setClockDivider(1);
#elif defined(__ARDUINO_X86__)
#ifdef SPI_CLOCK_1M // Hack used to check if setClockSpeed is available
USB_SPI.setClockSpeed(12000000); // The MAX3421E can handle up to 26MHz, but in practice this was the maximum that I could reliably use
#else
USB_SPI.setClockDivider(SPI_CLOCK_DIV2); // This will set the SPI frequency to 8MHz - it could be higher, but it is not supported in the old API
#endif
#elif !defined(RBL_NRF51822) && !defined(NRF52_SERIES)
USB_SPI.setClockDivider(4); // Set speed to 84MHz/4=21MHz - the MAX3421E can handle up to 26MHz
#endif
}
#else
static void init() {
//uint8_t tmp;
SPI_CLK::SetDirWrite();
SPI_MOSI::SetDirWrite();
SPI_MISO::SetDirRead();
SPI_SS::SetDirWrite();
/* mode 00 (CPOL=0, CPHA=0) master, fclk/2. Mode 11 (CPOL=11, CPHA=11) is also supported by MAX3421E */
SPCR = 0x50;
SPSR = 0x01; // 0x01
/**/
//tmp = SPSR;
//tmp = SPDR;
}
#endif
};
/* SPI pin definitions. see avrpins.h */
#if defined(PIN_SPI_SCK) && defined(PIN_SPI_MOSI) && defined(PIN_SPI_MISO) && defined(PIN_SPI_SS)
// Use pin defines: https://github.com/arduino/Arduino/pull/4814
// Based on: https://www.mikeash.com/pyblog/friday-qa-2015-03-20-preprocessor-abuse-and-optional-parentheses.html
#define NOTHING_EXTRACT
#define EXTRACT(...) EXTRACT __VA_ARGS__
#define PASTE(x, ...) x ## __VA_ARGS__
#define EVALUATING_PASTE(x, ...) PASTE(x, __VA_ARGS__)
#define UNPAREN(x) EVALUATING_PASTE(NOTHING_, EXTRACT x)
#define APPEND_PIN(pin) P ## pin // Appends the pin to 'P', e.g. 1 becomes P1
#define MAKE_PIN(x) EVALUATING_PASTE(APPEND_, PIN(UNPAREN(x)))
typedef SPi< MAKE_PIN(PIN_SPI_SCK), MAKE_PIN(PIN_SPI_MOSI), MAKE_PIN(PIN_SPI_MISO), MAKE_PIN(PIN_SPI_SS) > spi;
#undef MAKE_PIN
#elif defined(__AVR_ATmega1280__) || (__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
typedef SPi< Pb1, Pb2, Pb3, Pb0 > spi;
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
typedef SPi< Pb5, Pb3, Pb4, Pb2 > spi;
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)
typedef SPi< Pb7, Pb5, Pb6, Pb4 > spi;
#elif (defined(CORE_TEENSY) && (defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) || defined(__MKL26Z64__))) || defined(__ARDUINO_ARC__) || defined(__ARDUINO_X86__) || defined(__MIPSEL__) || defined(STM32F4)
typedef SPi< P13, P11, P12, P10 > spi;
#elif defined(ARDUINO_SAM_DUE) && defined(__SAM3X8E__)
typedef SPi< P76, P75, P74, P10 > spi;
#elif defined(RBL_NRF51822)
typedef SPi< P16, P18, P17, P10 > spi;
#elif defined(ESP8266)
typedef SPi< P14, P13, P12, P15 > spi;
#elif defined(ESP32)
typedef SPi< P18, P23, P19, P5 > spi;
#elif defined(ARDUINO_NRF52840_FEATHER)
typedef SPi< P26, P25, P24, P5 > spi;
#else
#error "No SPI entry in usbhost.h"
#endif
typedef enum {
vbus_on = 0,
vbus_off = GPX_VBDET
} VBUS_t;
template< typename SPI_SS, typename INTR > class MAX3421e /* : public spi */ {
static uint8_t vbusState;
public:
MAX3421e();
void regWr(uint8_t reg, uint8_t data);
uint8_t* bytesWr(uint8_t reg, uint8_t nbytes, uint8_t* data_p);
void gpioWr(uint8_t data);
uint8_t regRd(uint8_t reg);
uint8_t* bytesRd(uint8_t reg, uint8_t nbytes, uint8_t* data_p);
uint8_t gpioRd();
uint8_t gpioRdOutput();
uint16_t reset();
int8_t Init();
int8_t Init(int mseconds);
void vbusPower(VBUS_t state) {
regWr(rPINCTL, (bmFDUPSPI | bmINTLEVEL | state));
}
uint8_t getVbusState(void) {
return vbusState;
};
void busprobe();
uint8_t GpxHandler();
uint8_t IntHandler();
uint8_t Task();
};
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::vbusState = 0;
/* constructor */
template< typename SPI_SS, typename INTR >
MAX3421e< SPI_SS, INTR >::MAX3421e() {
// Leaving ADK hardware setup in here, for now. This really belongs with the other parts.
#ifdef BOARD_MEGA_ADK
// For Mega ADK, which has a Max3421e on-board, set MAX_RESET to output mode, and then set it to HIGH
P55::SetDirWrite();
P55::Set();
#endif
};
/* write single byte into MAX3421 register */
template< typename SPI_SS, typename INTR >
void MAX3421e< SPI_SS, INTR >::regWr(uint8_t reg, uint8_t data) {
XMEM_ACQUIRE_SPI();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.beginTransaction(SPISettings(26000000, MSBFIRST, SPI_MODE0)); // The MAX3421E can handle up to 26MHz, use MSB First and SPI mode 0
#endif
SPI_SS::Clear();
#if USING_SPI4TEENSY3
uint8_t c[2];
c[0] = reg | 0x02;
c[1] = data;
spi4teensy3::send(c, 2);
#elif defined(SPI_HAS_TRANSACTION) && !defined(ESP8266) && !defined(ESP32)
uint8_t c[2];
c[0] = reg | 0x02;
c[1] = data;
USB_SPI.transfer(c, 2);
#elif defined(STM32F4)
uint8_t c[2];
c[0] = reg | 0x02;
c[1] = data;
HAL_SPI_Transmit(&SPI_Handle, c, 2, HAL_MAX_DELAY);
#elif !defined(SPDR) // ESP8266, ESP32
USB_SPI.transfer(reg | 0x02);
USB_SPI.transfer(data);
#else
SPDR = (reg | 0x02);
while(!(SPSR & (1 << SPIF)));
SPDR = data;
while(!(SPSR & (1 << SPIF)));
#endif
SPI_SS::Set();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.endTransaction();
#endif
XMEM_RELEASE_SPI();
return;
};
/* multiple-byte write */
/* returns a pointer to memory position after last written */
template< typename SPI_SS, typename INTR >
uint8_t* MAX3421e< SPI_SS, INTR >::bytesWr(uint8_t reg, uint8_t nbytes, uint8_t* data_p) {
XMEM_ACQUIRE_SPI();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.beginTransaction(SPISettings(26000000, MSBFIRST, SPI_MODE0)); // The MAX3421E can handle up to 26MHz, use MSB First and SPI mode 0
#endif
SPI_SS::Clear();
#if USING_SPI4TEENSY3
spi4teensy3::send(reg | 0x02);
spi4teensy3::send(data_p, nbytes);
data_p += nbytes;
#elif defined(STM32F4)
uint8_t data = reg | 0x02;
HAL_SPI_Transmit(&SPI_Handle, &data, 1, HAL_MAX_DELAY);
HAL_SPI_Transmit(&SPI_Handle, data_p, nbytes, HAL_MAX_DELAY);
data_p += nbytes;
#elif !defined(__AVR__) || !defined(SPDR)
#if defined(ESP8266) || defined(ESP32)
yield();
#endif
USB_SPI.transfer(reg | 0x02);
while(nbytes) {
USB_SPI.transfer(*data_p);
nbytes--;
data_p++; // advance data pointer
}
#else
SPDR = (reg | 0x02); //set WR bit and send register number
while(nbytes) {
while(!(SPSR & (1 << SPIF))); //check if previous byte was sent
SPDR = (*data_p); // send next data byte
nbytes--;
data_p++; // advance data pointer
}
while(!(SPSR & (1 << SPIF)));
#endif
SPI_SS::Set();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.endTransaction();
#endif
XMEM_RELEASE_SPI();
return ( data_p);
}
/* GPIO write */
/*GPIO byte is split between 2 registers, so two writes are needed to write one byte */
/* GPOUT bits are in the low nibble. 0-3 in IOPINS1, 4-7 in IOPINS2 */
template< typename SPI_SS, typename INTR >
void MAX3421e< SPI_SS, INTR >::gpioWr(uint8_t data) {
regWr(rIOPINS1, data);
data >>= 4;
regWr(rIOPINS2, data);
return;
}
/* single host register read */
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::regRd(uint8_t reg) {
XMEM_ACQUIRE_SPI();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.beginTransaction(SPISettings(26000000, MSBFIRST, SPI_MODE0)); // The MAX3421E can handle up to 26MHz, use MSB First and SPI mode 0
#endif
SPI_SS::Clear();
#if USING_SPI4TEENSY3
spi4teensy3::send(reg);
uint8_t rv = spi4teensy3::receive();
SPI_SS::Set();
#elif defined(STM32F4)
HAL_SPI_Transmit(&SPI_Handle, &reg, 1, HAL_MAX_DELAY);
uint8_t rv = 0;
HAL_SPI_Receive(&SPI_Handle, &rv, 1, HAL_MAX_DELAY);
SPI_SS::Set();
#elif !defined(SPDR) || defined(SPI_HAS_TRANSACTION)
USB_SPI.transfer(reg);
uint8_t rv = USB_SPI.transfer(0); // Send empty byte
SPI_SS::Set();
#else
SPDR = reg;
while(!(SPSR & (1 << SPIF)));
SPDR = 0; // Send empty byte
while(!(SPSR & (1 << SPIF)));
SPI_SS::Set();
uint8_t rv = SPDR;
#endif
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.endTransaction();
#endif
XMEM_RELEASE_SPI();
return (rv);
}
/* multiple-byte register read */
/* returns a pointer to a memory position after last read */
template< typename SPI_SS, typename INTR >
uint8_t* MAX3421e< SPI_SS, INTR >::bytesRd(uint8_t reg, uint8_t nbytes, uint8_t* data_p) {
XMEM_ACQUIRE_SPI();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.beginTransaction(SPISettings(26000000, MSBFIRST, SPI_MODE0)); // The MAX3421E can handle up to 26MHz, use MSB First and SPI mode 0
#endif
SPI_SS::Clear();
#if USING_SPI4TEENSY3
spi4teensy3::send(reg);
spi4teensy3::receive(data_p, nbytes);
data_p += nbytes;
#elif defined(SPI_HAS_TRANSACTION) && !defined(ESP8266) && !defined(ESP32)
USB_SPI.transfer(reg);
memset(data_p, 0, nbytes); // Make sure we send out empty bytes
USB_SPI.transfer(data_p, nbytes);
data_p += nbytes;
#elif defined(__ARDUINO_X86__)
USB_SPI.transfer(reg);
USB_SPI.transferBuffer(NULL, data_p, nbytes);
data_p += nbytes;
#elif defined(STM32F4)
HAL_SPI_Transmit(&SPI_Handle, &reg, 1, HAL_MAX_DELAY);
memset(data_p, 0, nbytes); // Make sure we send out empty bytes
HAL_SPI_Receive(&SPI_Handle, data_p, nbytes, HAL_MAX_DELAY);
data_p += nbytes;
#elif !defined(SPDR) // ESP8266, ESP32
yield();
USB_SPI.transfer(reg);
while(nbytes) {
*data_p++ = USB_SPI.transfer(0);
nbytes--;
}
#else
SPDR = reg;
while(!(SPSR & (1 << SPIF))); //wait
while(nbytes) {
SPDR = 0; // Send empty byte
nbytes--;
while(!(SPSR & (1 << SPIF)));
#if 0
{
*data_p = SPDR;
printf("%2.2x ", *data_p);
}
data_p++;
}
printf("\r\n");
#else
*data_p++ = SPDR;
}
#endif
#endif
SPI_SS::Set();
#if defined(SPI_HAS_TRANSACTION)
USB_SPI.endTransaction();
#endif
XMEM_RELEASE_SPI();
return ( data_p);
}
/* GPIO read. See gpioWr for explanation */
/** @brief Reads the current GPI input values
* @retval uint8_t Bitwise value of all 8 GPI inputs
*/
/* GPIN pins are in high nibbles of IOPINS1, IOPINS2 */
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::gpioRd() {
uint8_t gpin = 0;
gpin = regRd(rIOPINS2); //pins 4-7
gpin &= 0xf0; //clean lower nibble
gpin |= (regRd(rIOPINS1) >> 4); //shift low bits and OR with upper from previous operation.
return ( gpin);
}
/** @brief Reads the current GPI output values
* @retval uint8_t Bitwise value of all 8 GPI outputs
*/
/* GPOUT pins are in low nibbles of IOPINS1, IOPINS2 */
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::gpioRdOutput() {
uint8_t gpout = 0;
gpout = regRd(rIOPINS1); //pins 0-3
gpout &= 0x0f; //clean upper nibble
gpout |= (regRd(rIOPINS2) << 4); //shift high bits and OR with lower from previous operation.
return ( gpout);
}
/* reset MAX3421E. Returns number of cycles it took for PLL to stabilize after reset
or zero if PLL haven't stabilized in 65535 cycles */
template< typename SPI_SS, typename INTR >
uint16_t MAX3421e< SPI_SS, INTR >::reset() {
uint16_t i = 0;
regWr(rUSBCTL, bmCHIPRES);
regWr(rUSBCTL, 0x00);
while(++i) {
if((regRd(rUSBIRQ) & bmOSCOKIRQ)) {
break;
}
}
return ( i);
}
/* initialize MAX3421E. Set Host mode, pullups, and stuff. Returns 0 if success, -1 if not */
template< typename SPI_SS, typename INTR >
int8_t MAX3421e< SPI_SS, INTR >::Init() {
XMEM_ACQUIRE_SPI();
// Moved here.
// you really should not init hardware in the constructor when it involves locks.
// Also avoids the vbus flicker issue confusing some devices.
/* pin and peripheral setup */
SPI_SS::SetDirWrite();
SPI_SS::Set();
spi::init();
INTR::SetDirRead();
XMEM_RELEASE_SPI();
/* MAX3421E - full-duplex SPI, level interrupt */
// GPX pin on. Moved here, otherwise we flicker the vbus.
regWr(rPINCTL, (bmFDUPSPI | bmINTLEVEL));
if(reset() == 0) { //OSCOKIRQ hasn't asserted in time
return ( -1);
}
regWr(rMODE, bmDPPULLDN | bmDMPULLDN | bmHOST); // set pull-downs, Host
regWr(rHIEN, bmCONDETIE | bmFRAMEIE); //connection detection
/* check if device is connected */
regWr(rHCTL, bmSAMPLEBUS); // sample USB bus
while(!(regRd(rHCTL) & bmSAMPLEBUS)); //wait for sample operation to finish
busprobe(); //check if anything is connected
regWr(rHIRQ, bmCONDETIRQ); //clear connection detect interrupt
regWr(rCPUCTL, 0x01); //enable interrupt pin
return ( 0);
}
/* initialize MAX3421E. Set Host mode, pullups, and stuff. Returns 0 if success, -1 if not */
template< typename SPI_SS, typename INTR >
int8_t MAX3421e< SPI_SS, INTR >::Init(int mseconds) {
XMEM_ACQUIRE_SPI();
// Moved here.
// you really should not init hardware in the constructor when it involves locks.
// Also avoids the vbus flicker issue confusing some devices.
/* pin and peripheral setup */
SPI_SS::SetDirWrite();
SPI_SS::Set();
spi::init();
INTR::SetDirRead();
XMEM_RELEASE_SPI();
/* MAX3421E - full-duplex SPI, level interrupt, vbus off */
regWr(rPINCTL, (bmFDUPSPI | bmINTLEVEL | GPX_VBDET));
if(reset() == 0) { //OSCOKIRQ hasn't asserted in time
return ( -1);
}
// Delay a minimum of 1 second to ensure any capacitors are drained.
// 1 second is required to make sure we do not smoke a Microdrive!
if(mseconds < 1000) mseconds = 1000;
delay(mseconds);
regWr(rMODE, bmDPPULLDN | bmDMPULLDN | bmHOST); // set pull-downs, Host
regWr(rHIEN, bmCONDETIE | bmFRAMEIE); //connection detection
/* check if device is connected */
regWr(rHCTL, bmSAMPLEBUS); // sample USB bus
while(!(regRd(rHCTL) & bmSAMPLEBUS)); //wait for sample operation to finish
busprobe(); //check if anything is connected
regWr(rHIRQ, bmCONDETIRQ); //clear connection detect interrupt
regWr(rCPUCTL, 0x01); //enable interrupt pin
// GPX pin on. This is done here so that busprobe will fail if we have a switch connected.
regWr(rPINCTL, (bmFDUPSPI | bmINTLEVEL));
return ( 0);
}
/* probe bus to determine device presence and speed and switch host to this speed */
template< typename SPI_SS, typename INTR >
void MAX3421e< SPI_SS, INTR >::busprobe() {
static uint8_t prev_bus = -1;
uint8_t bus_sample;
if (regRd(rHIRQ) & bmCONDETIRQ) {
// device plug/unplug is detected
// clear CONDETIRQ
regWr(rHIRQ, bmCONDETIRQ);
} else {
// check current bus state when no device(SE0),
// otherwise transient state will be read due to bus activity.
if (vbusState != SE0) return;
// read current bus state
regWr(rHCTL, bmSAMPLEBUS);
}
bus_sample = regRd(rHRSL); //Get J,K status
bus_sample &= (bmJSTATUS | bmKSTATUS); //zero the rest of the byte
if (prev_bus == bus_sample) { return; }
prev_bus = bus_sample;
switch(bus_sample) { //start full-speed or low-speed host
case( bmJSTATUS):
if((regRd(rMODE) & bmLOWSPEED) == 0) {
regWr(rMODE, MODE_FS_HOST); //start full-speed host
vbusState = FSHOST;
} else {
regWr(rMODE, MODE_LS_HOST); //start low-speed host
vbusState = LSHOST;
}
break;
case( bmKSTATUS):
if((regRd(rMODE) & bmLOWSPEED) == 0) {
regWr(rMODE, MODE_LS_HOST); //start low-speed host
vbusState = LSHOST;
} else {
regWr(rMODE, MODE_FS_HOST); //start full-speed host
vbusState = FSHOST;
}
break;
case( bmSE1): //illegal state
vbusState = SE1;
break;
case( bmSE0): //disconnected state
regWr(rMODE, bmDPPULLDN | bmDMPULLDN | bmHOST | bmSEPIRQ);
vbusState = SE0;
break;
}//end switch( bus_sample )
}
/* MAX3421 state change task and interrupt handler */
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::Task(void) {
/*
uint8_t rcode = 0;
uint8_t pinvalue;
//USB_HOST_SERIAL.print("Vbus state: ");
//USB_HOST_SERIAL.println( vbusState, HEX );
pinvalue = INTR::IsSet(); //Read();
//pinvalue = digitalRead( MAX_INT );
if(pinvalue == 0) {
rcode = IntHandler();
}
// pinvalue = digitalRead( MAX_GPX );
// if( pinvalue == LOW ) {
// GpxHandler();
// }
// usbSM(); //USB state machine
return ( rcode);
*/
busprobe();
return 0;
}
template< typename SPI_SS, typename INTR >
uint8_t MAX3421e< SPI_SS, INTR >::IntHandler() {
uint8_t HIRQ;
uint8_t HIRQ_sendback = 0x00;
HIRQ = regRd(rHIRQ); //determine interrupt source
//if( HIRQ & bmFRAMEIRQ ) { //->1ms SOF interrupt handler
// HIRQ_sendback |= bmFRAMEIRQ;
//}//end FRAMEIRQ handling
if(HIRQ & bmCONDETIRQ) {
busprobe();
HIRQ_sendback |= bmCONDETIRQ;
}
/* End HIRQ interrupts handling, clear serviced IRQs */
regWr(rHIRQ, HIRQ_sendback);
return ( HIRQ_sendback);
}
//template< typename SPI_SS, typename INTR >
//uint8_t MAX3421e< SPI_SS, INTR >::GpxHandler()
//{
// uint8_t GPINIRQ = regRd( rGPINIRQ ); //read GPIN IRQ register
//// if( GPINIRQ & bmGPINIRQ7 ) { //vbus overload
//// vbusPwr( OFF ); //attempt powercycle
//// delay( 1000 );
//// vbusPwr( ON );
//// regWr( rGPINIRQ, bmGPINIRQ7 );
//// }
// return( GPINIRQ );
//}
#endif // _USBHOST_H_
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