Subversion Repositories freemyipod

//

//

//    Copyright 2010 TheSeven

//

//

//    This file is part of emBIOS.

//

//    emBIOS 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.

//

//    emBIOS 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 emBIOS.  If not, see <http://www.gnu.org/licenses/>.

//

//

#include "global.h"

#include "panic.h"

#include "usb.h"

#include "usb_ch9.h"

#include "usbdrv.h"

#include "thread.h"

#include "console.h"

#include "util.h"

#include "contextswitch.h"

#include "power.h"

#include "mmu.h"

#include "shutdown.h"

#include "execimage.h"

#ifdef HAVE_I2C

#include "i2c.h"

#endif

#ifdef HAVE_BOOTFLASH

#include "bootflash.h"

#endif

#ifdef HAVE_HWKEYAES

#include "hwkeyaes.h"

#endif

#ifdef HAVE_HMACSHA1

#include "hmacsha1.h"

#endif

#ifdef USB_HAVE_TARGET_SPECIFIC_REQUESTS

#include "usbtarget.h"

#endif

static uint8_t ctrlresp[2] CACHEALIGN_ATTR;

static uint32_t dbgrecvbuf[0x80] CACHEALIGN_ATTR;

static uint32_t dbgsendbuf[0x80] CACHEALIGN_ATTR;

static uint32_t dbgasyncsendbuf[0x80] CACHEALIGN_ATTR;

static char dbgendpoints[4] IBSS_ATTR;

enum dbgaction_t

{

    DBGACTION_IDLE = 0,

    DBGACTION_I2CSEND,

    DBGACTION_I2CRECV,

    DBGACTION_RESET,

    DBGACTION_POWEROFF,

    DBGACTION_CWRITE,

    DBGACTION_CREAD,

    DBGACTION_CFLUSH,

    DBGACTION_EXECIMAGE,

    DBGACTION_EXECFIRMWARE,

    DBGACTION_READBOOTFLASH,

    DBGACTION_WRITEBOOTFLASH,

    DBGACTION_HWKEYAES,

    DBGACTION_HMACSHA1,

    DBGACTION_TARGETSPECIFIC

};

static uint32_t dbgstack[0x100] STACK_ATTR;

struct wakeup dbgwakeup IBSS_ATTR;

extern struct scheduler_thread* scheduler_threads;

static enum dbgaction_t dbgaction IBSS_ATTR;

static int dbgi2cbus;

static int dbgi2cslave;

static int dbgactionaddr;

static int dbgactionoffset;

static int dbgactionlength;

static int dbgactionconsoles;

static int dbgactiontype;

static char dbgconsendbuf[4096];

static char dbgconrecvbuf[1024];

static int dbgconsendreadidx IBSS_ATTR;

static int dbgconsendwriteidx IBSS_ATTR;

static int dbgconrecvreadidx IBSS_ATTR;

static int dbgconrecvwriteidx IBSS_ATTR;

static struct wakeup dbgconsendwakeup IBSS_ATTR;

static struct wakeup dbgconrecvwakeup IBSS_ATTR;

static bool dbgconsoleattached IBSS_ATTR;

static const char dbgconoverflowstr[] = "\n\n[overflowed]\n\n";

extern int _initstart;   // These aren't ints at all, but gcc complains about void types being

extern int _sdramstart;  // used here, and we only need the address, so just make it happy...

static struct usb_device_descriptor CACHEALIGN_ATTR device_descriptor =

{

    .bLength            = sizeof(struct usb_device_descriptor),

    .bDescriptorType    = USB_DT_DEVICE,

    .bcdUSB             = 0x0200,

    .bDeviceClass       = USB_CLASS_VENDOR_SPEC,

    .bDeviceSubClass    = 0xff,

    .bDeviceProtocol    = 0xff,

    .bMaxPacketSize0    = 64,

    .idVendor           = 0xffff,

    .idProduct          = 0xe000,

    .bcdDevice          = 0x0001,

    .iManufacturer      = 1,

    .iProduct           = 2,

    .iSerialNumber      = 0,

    .bNumConfigurations = 1

};

static struct usb_config_bundle

{

    struct usb_config_descriptor config_descriptor;

    struct usb_interface_descriptor interface_descriptor;

    struct usb_endpoint_descriptor endpoint1_descriptor;

    struct usb_endpoint_descriptor endpoint2_descriptor;

    struct usb_endpoint_descriptor endpoint3_descriptor;

    struct usb_endpoint_descriptor endpoint4_descriptor;

} __attribute__((packed)) CACHEALIGN_ATTR config_bundle = 

{

    .config_descriptor =

    {

        .bLength             = sizeof(struct usb_config_descriptor),

        .bDescriptorType     = USB_DT_CONFIG,

        .wTotalLength        = sizeof(struct usb_config_descriptor)

                             + sizeof(struct usb_interface_descriptor)

                             + sizeof(struct usb_endpoint_descriptor) * 4,

        .bNumInterfaces      = 1,

        .bConfigurationValue = 1,

        .iConfiguration      = 0,

        .bmAttributes        = USB_CONFIG_ATT_ONE,

        .bMaxPower           = 250

    },

    .interface_descriptor =

    {

        .bLength             = sizeof(struct usb_interface_descriptor),

        .bDescriptorType     = USB_DT_INTERFACE,

        .bInterfaceNumber    = 0,

        .bAlternateSetting   = 0,

        .bNumEndpoints       = 4,

        .bInterfaceClass     = USB_CLASS_VENDOR_SPEC,

        .bInterfaceSubClass  = 0xff,

        .bInterfaceProtocol  = 0xff,

        .iInterface          = 0

    },

    .endpoint1_descriptor =

    {

        .bLength             = sizeof(struct usb_endpoint_descriptor),

        .bDescriptorType     = USB_DT_ENDPOINT,

        .bEndpointAddress    = 0,

        .bmAttributes        = USB_ENDPOINT_XFER_BULK,

        .wMaxPacketSize      = 0,

        .bInterval           = 1

    },

    .endpoint2_descriptor =

    {

        .bLength             = sizeof(struct usb_endpoint_descriptor),

        .bDescriptorType     = USB_DT_ENDPOINT,

        .bEndpointAddress    = 0,

        .bmAttributes        = USB_ENDPOINT_XFER_BULK,

        .wMaxPacketSize      = 0,

        .bInterval           = 1

    },

    .endpoint3_descriptor =

    {

        .bLength             = sizeof(struct usb_endpoint_descriptor),

        .bDescriptorType     = USB_DT_ENDPOINT,

        .bEndpointAddress    = 0,

        .bmAttributes        = USB_ENDPOINT_XFER_BULK,

        .wMaxPacketSize      = 0,

        .bInterval           = 1

    },

    .endpoint4_descriptor =

    {

        .bLength             = sizeof(struct usb_endpoint_descriptor),

        .bDescriptorType     = USB_DT_ENDPOINT,

        .bEndpointAddress    = 0,

        .bmAttributes        = USB_ENDPOINT_XFER_BULK,

        .wMaxPacketSize      = 0,

        .bInterval           = 1

    }

};

static struct usb_string_descriptor CACHEALIGN_ATTR string_devicename =

{

    32,

    USB_DT_STRING,

    {'e', 'm', 'B', 'I', 'O', 'S', ' ', 'D', 'e', 'b', 'u', 'g', 'g', 'e', 'r'}

};

static const struct usb_string_descriptor CACHEALIGN_ATTR lang_descriptor =

{

    4,

    USB_DT_STRING,

    {0x0409}

};

void usb_setup_dbg_listener()

{

    usb_drv_recv(dbgendpoints[0], dbgrecvbuf, usb_drv_port_speed() ? 512 : 64);

}

void usb_handle_control_request(struct usb_ctrlrequest* req)

{

    const void* addr;

    int size = -1;

    switch (req->bRequest)

    {

    case USB_REQ_GET_STATUS:

        if (req->bRequestType == USB_DIR_IN) ctrlresp[0] = 1;

        else ctrlresp[0] = 0;

        ctrlresp[1] = 0;

        addr = ctrlresp;

        size = 2;

        break;

    case USB_REQ_CLEAR_FEATURE:

        if (req->bRequestType == USB_RECIP_ENDPOINT && req->wValue == USB_ENDPOINT_HALT)

            usb_drv_stall(req->wIndex & 0xf, false, req->wIndex >> 7);

        size = 0;

        break;

    case USB_REQ_SET_FEATURE:

        size = 0;

        break;

    case USB_REQ_SET_ADDRESS:

        size = 0;

        usb_drv_cancel_all_transfers();

        usb_drv_set_address(req->wValue);

        usb_setup_dbg_listener();

        break;

    case USB_REQ_GET_DESCRIPTOR:

        switch (req->wValue >> 8)

        {

        case USB_DT_DEVICE:

            addr = &device_descriptor;

            size = sizeof(device_descriptor);

            break;

        case USB_DT_OTHER_SPEED_CONFIG:

        case USB_DT_CONFIG:

            if ((req->wValue >> 8) == USB_DT_CONFIG)

            {

                int maxpacket = usb_drv_port_speed() ? 512 : 64;

                config_bundle.endpoint1_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint2_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint3_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint4_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.config_descriptor.bDescriptorType = USB_DT_CONFIG;

            }

            else

            {

                int maxpacket = usb_drv_port_speed() ? 64 : 512;

                config_bundle.endpoint1_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint2_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint3_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.endpoint4_descriptor.wMaxPacketSize = maxpacket;

                config_bundle.config_descriptor.bDescriptorType = USB_DT_OTHER_SPEED_CONFIG;

            }

            addr = &config_bundle;

            size = sizeof(config_bundle);

            break;

        case USB_DT_STRING:

            switch (req->wValue & 0xff)

            {

            case 0:

                addr = &lang_descriptor;

                size = lang_descriptor.bLength;

                break;

            case 1:

                string_devicename.bLength = 14;

                addr = &string_devicename;

                size = string_devicename.bLength;

                break;

            case 2:

                string_devicename.bLength = 32;

                addr = &string_devicename;

                size = string_devicename.bLength;

                break;

            }

            break;

        }

        break;

    case USB_REQ_GET_CONFIGURATION:

        ctrlresp[0] = 1;

        addr = ctrlresp;

        size = 1;

        break;

    case USB_REQ_SET_CONFIGURATION:

        usb_drv_cancel_all_transfers();

        usb_setup_dbg_listener();

        size = 0;

        break;

    }

    if (!size) usb_drv_send_nonblocking(0, NULL, 0);

    else if (size == -1)

    {

        usb_drv_stall(0, true, true);

        usb_drv_stall(0, true, false);

    }

    else

    {

        usb_drv_recv(0, NULL, 0);

        usb_drv_send_nonblocking(0, addr, size > req->wLength ? req->wLength : size);

    }

}

bool set_dbgaction(enum dbgaction_t action, int addsize)

{

    if (dbgaction != DBGACTION_IDLE)

    {

        dbgsendbuf[0] = 3;

        usb_drv_send_nonblocking(dbgendpoints[1], dbgsendbuf, 16 + addsize);

        return true;

    }

    dbgaction = action;

    wakeup_signal(&dbgwakeup);

    return false;

}

void reset() __attribute__((noreturn));

void usb_handle_transfer_complete(int endpoint, int dir, int status, int length)

{

    void* addr = dbgsendbuf;

    int size = 0;

    if (endpoint == dbgendpoints[0])

    {

#ifdef USB_HAVE_TARGET_SPECIFIC_REQUESTS

        if (dbgrecvbuf[0] >= 0xffff0000)

        {

            if (!set_dbgaction(DBGACTION_TARGETSPECIFIC, 0))

                memcpy(dbgasyncsendbuf, dbgrecvbuf, sizeof(dbgasyncsendbuf));

            usb_setup_dbg_listener();

            return;

        }

#endif

        switch (dbgrecvbuf[0])

        {

        case 1:  // GET INFO

            dbgsendbuf[0] = 1;

            size = 16;

            switch (dbgrecvbuf[1])

            {

            case 0:  // GET VERSION INFO

                dbgsendbuf[1] = VERSION_SVN_INT;

                dbgsendbuf[2] = VERSION_MAJOR | (VERSION_MINOR << 8)

                              | (VERSION_PATCH << 16) | (1 << 24);

                dbgsendbuf[3] = PLATFORM_ID;

                break;

            case 1:  // GET PACKET SIZE INFO

                dbgsendbuf[1] = 0x02000200;

                dbgsendbuf[2] = usb_drv_get_max_out_size();

                dbgsendbuf[3] = usb_drv_get_max_in_size();

                break;

            case 2:  // GET USER MEMORY INFO

                dbgsendbuf[1] = (uint32_t)&_initstart;

                dbgsendbuf[2] = (uint32_t)&_sdramstart;

                break;

            default:

                dbgsendbuf[0] = 2;

            }

            break;

        case 2:  // RESET

            if (dbgrecvbuf[1])

            {

                if (set_dbgaction(DBGACTION_RESET, 0)) break;

                dbgsendbuf[0] = 1;

                size = 16;

            }

            else reset();

            break;

        case 3:  // POWER OFF

            if (set_dbgaction(DBGACTION_POWEROFF, 0)) break;

            dbgactiontype = dbgrecvbuf[1];

            dbgsendbuf[0] = 1;

            size = 16;

            break;

        case 4:  // READ MEMORY

            dbgsendbuf[0] = 1;

            memcpy(&dbgsendbuf[4], (const void*)dbgrecvbuf[1], dbgrecvbuf[2]);

            size = dbgrecvbuf[2] + 16;

            break;

        case 5:  // WRITE MEMORY

            dbgsendbuf[0] = 1;

            memcpy((void*)dbgrecvbuf[1], &dbgrecvbuf[4], dbgrecvbuf[2]);

            size = 16;

            break;

        case 6:  // READ DMA

            dbgsendbuf[0] = 1;

            usb_drv_send_nonblocking(dbgendpoints[1], dbgsendbuf, 16);

            usb_drv_send_nonblocking(dbgendpoints[3], (const void*)dbgrecvbuf[1], dbgrecvbuf[2]);

            break;

        case 7:  // WRITE DMA

            dbgsendbuf[0] = 1;

            size = 16;

            usb_drv_recv(dbgendpoints[2], (void*)dbgrecvbuf[1], dbgrecvbuf[2]);

            break;

#ifdef HAVE_I2C

        case 8:  // READ I2C

            if (set_dbgaction(DBGACTION_I2CRECV, dbgrecvbuf[1] >> 24)) break;

            dbgi2cbus = dbgrecvbuf[1] & 0xff;

            dbgi2cslave = (dbgrecvbuf[1] >> 8) & 0xff;

            dbgactionaddr = (dbgrecvbuf[1] >> 16) & 0xff;

            dbgactionlength = dbgrecvbuf[1] >> 24;

            if (!dbgactionlength) dbgactionlength = 256;

            break;

        case 9:  // WRITE I2C

            if (set_dbgaction(DBGACTION_I2CSEND, 0)) break;

            dbgi2cbus = dbgrecvbuf[1] & 0xff;

            dbgi2cslave = (dbgrecvbuf[1] >> 8) & 0xff;

            dbgactionaddr = (dbgrecvbuf[1] >> 16) & 0xff;

            dbgactionlength = dbgrecvbuf[1] >> 24;

            if (!dbgactionlength) dbgactionlength = 256;

            memcpy(dbgasyncsendbuf, &dbgrecvbuf[4], dbgactionlength);

            break;

#endif

        case 10:  // READ CONSOLE

            dbgconsoleattached = true;

            int bytes = dbgconsendwriteidx - dbgconsendreadidx;

            int used = 0;

            if (bytes)

            {

                if (bytes < 0) bytes += sizeof(dbgconsendbuf);

                used = bytes;

                if (bytes > dbgrecvbuf[1]) bytes = dbgrecvbuf[1];

                int readbytes = bytes;

                char* outptr = (char*)&dbgsendbuf[4];

                if (dbgconsendreadidx + bytes >= sizeof(dbgconsendbuf))

                {

                    readbytes = sizeof(dbgconsendbuf) - dbgconsendreadidx;

                    memcpy(outptr, &dbgconsendbuf[dbgconsendreadidx], readbytes);

                    dbgconsendreadidx = 0;

                    outptr = &outptr[readbytes];

                    readbytes = bytes - readbytes;

                }

                if (readbytes) memcpy(outptr, &dbgconsendbuf[dbgconsendreadidx], readbytes);

                dbgconsendreadidx += readbytes;

                wakeup_signal(&dbgconsendwakeup);

            }

            dbgsendbuf[0] = 1;

            dbgsendbuf[1] = bytes;

            dbgsendbuf[2] = sizeof(dbgconsendbuf);

            dbgsendbuf[3] = used - bytes;

            size = 16 + dbgrecvbuf[1];

            break;

        case 11:  // WRITE CONSOLE

            bytes = dbgconrecvreadidx - dbgconrecvwriteidx - 1;

            if (bytes < 0) bytes += sizeof(dbgconrecvbuf);

            if (bytes)

            {

                if (bytes > dbgrecvbuf[1]) bytes = dbgrecvbuf[1];

                int writebytes = bytes;

                char* readptr = (char*)&dbgrecvbuf[4];

                if (dbgconrecvwriteidx + bytes >= sizeof(dbgconrecvbuf))

                {

                    writebytes = sizeof(dbgconrecvbuf) - dbgconrecvwriteidx;

                    memcpy(&dbgconrecvbuf[dbgconrecvwriteidx], readptr, writebytes);

                    dbgconrecvwriteidx = 0;

                    readptr = &readptr[writebytes];

                    writebytes = bytes - writebytes;

                }

                if (writebytes) memcpy(&dbgconrecvbuf[dbgconrecvwriteidx], readptr, writebytes);

                dbgconrecvwriteidx += writebytes;

                wakeup_signal(&dbgconrecvwakeup);

            }

            dbgsendbuf[0] = 1;

            dbgsendbuf[1] = bytes;

            dbgsendbuf[2] = sizeof(dbgconrecvbuf);

            dbgsendbuf[3] = dbgconrecvreadidx - dbgconrecvwriteidx - 1;

            size = 16;

            break;

        case 12:  // CWRITE

            if (set_dbgaction(DBGACTION_CWRITE, 0)) break;

            dbgactionconsoles = dbgrecvbuf[1];

            dbgactionlength = dbgrecvbuf[2];

            memcpy(dbgasyncsendbuf, &dbgrecvbuf[4], dbgactionlength);

            break;

        case 13:  // CREAD

            if (set_dbgaction(DBGACTION_CREAD, dbgrecvbuf[2])) break;

            dbgactionconsoles = dbgrecvbuf[1];

            dbgactionlength = dbgrecvbuf[2];

            break;

        case 14:  // CFLUSH

            if (set_dbgaction(DBGACTION_CFLUSH, 0)) break;

            dbgactionconsoles = dbgrecvbuf[1];

            break;

        case 15:  // GET PROCESS INFO

            dbgsendbuf[0] = 1;

            dbgsendbuf[1] = SCHEDULER_THREAD_INFO_VERSION;

            dbgsendbuf[2] = MAX_THREADS * sizeof(struct scheduler_thread);

            memcpy(&dbgsendbuf[4], (void*)(((uint32_t)&scheduler_threads) + dbgrecvbuf[1]),

                   dbgrecvbuf[2]);

            size = dbgrecvbuf[2] + 16;

            break;

        case 16:  // FREEZE SCHEDULER

            dbgsendbuf[1] = scheduler_freeze(dbgrecvbuf[1]);

            dbgsendbuf[0] = 1;

            size = 16;

            break;

        case 17:  // SUSPEND THREAD

            if (dbgrecvbuf[1])

            {

                if (thread_suspend(dbgrecvbuf[2]) == -4) dbgsendbuf[1] = 1;

                else dbgsendbuf[1] = 0;

            }

            else

            {

                if (thread_resume(dbgrecvbuf[2]) == -5) dbgsendbuf[1] = 0;

                else dbgsendbuf[1] = 1;

            }

            dbgsendbuf[0] = 1;

            size = 16;

            break;

        case 18:  // KILL THREAD

            thread_terminate(dbgrecvbuf[1]);

            dbgsendbuf[0] = 1;

            size = 16;

            break;

        case 19:  // KILL THREAD

            dbgsendbuf[0] = 1;

            dbgsendbuf[1] = thread_create((const char*)dbgsendbuf[1], (const void*)dbgsendbuf[2],

                                          (char*)dbgsendbuf[3], dbgsendbuf[4], dbgsendbuf[5],

                                          dbgsendbuf[6], dbgsendbuf[7]);

            size = 16;

            break;

        case 20:  // FLUSH CACHE

            clean_dcache();

            invalidate_icache();

            dbgsendbuf[0] = 1;

            size = 16;

            break;

        case 21:  // EXECIMAGE

            if (set_dbgaction(DBGACTION_EXECIMAGE, 0)) break;

            dbgactionaddr = dbgrecvbuf[1];

            break;

#ifdef HAVE_BOOTFLASH

        case 22:  // READ BOOT FLASH

            if (set_dbgaction(DBGACTION_READBOOTFLASH, 0)) break;

            dbgactionaddr = dbgrecvbuf[1];

            dbgactionoffset = dbgrecvbuf[2];

            dbgactionlength = dbgrecvbuf[3];

            break;

        case 23:  // WRITE BOOT FLASH

            if (set_dbgaction(DBGACTION_WRITEBOOTFLASH, 0)) break;

            dbgactionaddr = dbgrecvbuf[1];

            dbgactionoffset = dbgrecvbuf[2];

            dbgactionlength = dbgrecvbuf[3];

            break;

#endif

        case 24:  // EXECFIRMWARE

            if (set_dbgaction(DBGACTION_EXECFIRMWARE, 0)) break;

            dbgactionaddr = dbgrecvbuf[1];

            break;

#ifdef HAVE_HWKEYAES

        case 25:  // HWKEYAES

            if (set_dbgaction(DBGACTION_HWKEYAES, 0)) break;

            dbgactiontype = ((uint8_t*)dbgrecvbuf)[4];

            dbgactionoffset = ((uint16_t*)dbgrecvbuf)[3];

            dbgactionaddr = dbgrecvbuf[2];

            dbgactionlength = dbgrecvbuf[3];

            break;

#endif

#ifdef HAVE_HMACSHA1

        case 26:  // HMACSHA1

            if (set_dbgaction(DBGACTION_HMACSHA1, 0)) break;

            dbgactionaddr = dbgrecvbuf[1];

            dbgactionlength = dbgrecvbuf[2];

            dbgactionoffset = dbgrecvbuf[3];

            break;

#endif

        default:

            dbgsendbuf[0] = 2;

            size = 16;

        }

        usb_setup_dbg_listener();

        if (size) usb_drv_send_nonblocking(dbgendpoints[1], addr, size);

    }

}

void usb_handle_bus_reset(void)

{

    dbgendpoints[0] = usb_drv_request_endpoint(USB_ENDPOINT_XFER_BULK, USB_DIR_OUT);

    dbgendpoints[1] = usb_drv_request_endpoint(USB_ENDPOINT_XFER_BULK, USB_DIR_IN);

    dbgendpoints[2] = usb_drv_request_endpoint(USB_ENDPOINT_XFER_BULK, USB_DIR_OUT);

    dbgendpoints[3] = usb_drv_request_endpoint(USB_ENDPOINT_XFER_BULK, USB_DIR_IN);

    config_bundle.endpoint1_descriptor.bEndpointAddress = dbgendpoints[0];

    config_bundle.endpoint2_descriptor.bEndpointAddress = dbgendpoints[1];

    config_bundle.endpoint3_descriptor.bEndpointAddress = dbgendpoints[2];

    config_bundle.endpoint4_descriptor.bEndpointAddress = dbgendpoints[3];

    usb_setup_dbg_listener();

}

void dbgthread(void)

{

    int i;

    int t;

    while (1)

    {

        wakeup_wait(&dbgwakeup, TIMEOUT_BLOCK);

        for (i = 0; i < MAX_THREADS; i++)

            if (scheduler_threads[i].state == THREAD_DEFUNCT)

            {

                if (scheduler_threads[i].block_type == THREAD_DEFUNCT_STKOV)

                {

                    if (scheduler_threads[i].name)

                        cprintf(1, "\n*PANIC*\nStack overflow! (%s)\n",

                                scheduler_threads[i].name);

                    else cprintf(1, "\n*PANIC*\nStack overflow! (ID %d)\n", i);

                }

                scheduler_threads[i].state = THREAD_DEFUNCT_ACK;

            }

        if (dbgaction != DBGACTION_IDLE)

        {

            switch (dbgaction)

            {

#ifdef HAVE_I2C

            case DBGACTION_I2CSEND:

                i2c_send(dbgi2cbus, dbgi2cslave, dbgactionaddr,

                         (uint8_t*)dbgasyncsendbuf, dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

            case DBGACTION_I2CRECV:

                i2c_recv(dbgi2cbus, dbgi2cslave, dbgactionaddr,

                         (uint8_t*)(&dbgasyncsendbuf[4]), dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16 + dbgactionlength);

                break;

#endif

            case DBGACTION_POWEROFF:

                if (dbgactiontype) shutdown(true);

                power_off();

                break;

            case DBGACTION_RESET:

                shutdown(false);

                reset();

                break;

            case DBGACTION_CWRITE:

                cwrite(dbgactionconsoles, (const char*)dbgasyncsendbuf, dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

            case DBGACTION_CREAD:

                dbgasyncsendbuf[0] = 1;

                dbgasyncsendbuf[1] = cread(dbgactionconsoles, (char*)&dbgasyncsendbuf[4],

                                           dbgactionlength, 0);

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16 + dbgactionlength);

                break;

            case DBGACTION_CFLUSH:

                cflush(dbgactionconsoles);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

            case DBGACTION_EXECIMAGE:

                dbgasyncsendbuf[0] = 1;

                dbgasyncsendbuf[1] = execimage((void*)dbgactionaddr);

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

            case DBGACTION_EXECFIRMWARE:

                shutdown(false);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                execfirmware((void*)dbgactionaddr);

#ifdef HAVE_BOOTFLASH

            case DBGACTION_READBOOTFLASH:

                bootflash_readraw((void*)dbgactionaddr, dbgactionoffset, dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

            case DBGACTION_WRITEBOOTFLASH:

                bootflash_writeraw((void*)dbgactionaddr, dbgactionoffset, dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

#endif

#ifdef HAVE_HWKEYAES

            case DBGACTION_HWKEYAES:

                hwkeyaes((enum hwkeyaes_direction) dbgactiontype, dbgactionoffset,

                         (void*)dbgactionaddr, dbgactionlength);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

#endif

#ifdef HAVE_HMACSHA1

            case DBGACTION_HMACSHA1:

                hmacsha1((void*)dbgactionaddr, dbgactionlength, (void*)dbgactionoffset);

                dbgasyncsendbuf[0] = 1;

                usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, 16);

                break;

#endif

#ifdef USB_HAVE_TARGET_SPECIFIC_REQUESTS

            case DBGACTION_TARGETSPECIFIC:

            {

                int size = usb_target_handle_request(dbgasyncsendbuf, sizeof(dbgasyncsendbuf));

                if (size) usb_drv_send_nonblocking(dbgendpoints[1], dbgasyncsendbuf, size);

                break;

            }

#endif

            }

            dbgaction = DBGACTION_IDLE;

        }

    }

}

void usb_init(void)

{

    dbgaction = DBGACTION_IDLE;

    wakeup_init(&dbgwakeup);

    dbgconsendreadidx = 0;

    dbgconsendwriteidx = 0;

    dbgconrecvreadidx = 0;

    dbgconrecvwriteidx = 0;

    wakeup_init(&dbgconsendwakeup);

    wakeup_init(&dbgconrecvwakeup);

    dbgconsoleattached = false;

    thread_create("monitor worker", dbgthread, dbgstack, sizeof(dbgstack), CORE_THREAD, 255, true);

    usb_drv_init();

}

int dbgconsole_getfree() ICODE_ATTR;

int dbgconsole_getfree()

{

    int free = dbgconsendreadidx - dbgconsendwriteidx - 1;

    if (free < 0) free += sizeof(dbgconsendbuf);

    return free;

}

int dbgconsole_makespace(int length) ICODE_ATTR;

int dbgconsole_makespace(int length)

{

    int free = dbgconsole_getfree();

    while (!free && dbgconsoleattached)

    {

        dbgconsoleattached = false;

        wakeup_wait(&dbgconsendwakeup, 2000000);

        free = dbgconsole_getfree();

    }

    if (free) return free > length ? length : free;

    if (length > sizeof(dbgconsendbuf) - 17) length = sizeof(dbgconsendbuf) - 17;

    uint32_t mode = enter_critical_section();

    dbgconsendreadidx += length;

    if (dbgconsendreadidx >= sizeof(dbgconsendbuf))

        dbgconsendreadidx -= sizeof(dbgconsendbuf);

    int offset = 0;

    int idx = dbgconsendreadidx;

    if (idx + 16 >= sizeof(dbgconsendbuf))

    {

        offset = sizeof(dbgconsendbuf) - dbgconsendreadidx;

        memcpy(&dbgconsendbuf[dbgconsendreadidx], dbgconoverflowstr, offset);

        idx = 0;

    }

    if (offset != 16) memcpy(&dbgconsendbuf[idx], &dbgconoverflowstr[offset], 16 - offset);

    leave_critical_section(mode);

    return length;

}

void dbgconsole_putc(char string)

{

    dbgconsole_makespace(1);

    dbgconsendbuf[dbgconsendwriteidx++] = string;

    if (dbgconsendwriteidx >= sizeof(dbgconsendbuf))

        dbgconsendwriteidx -= sizeof(dbgconsendbuf);

}

void dbgconsole_write(const char* string, size_t length)

{

    while (length)

    {

        int space = dbgconsole_makespace(length);

        if (dbgconsendwriteidx + space >= sizeof(dbgconsendbuf))

        {

            int bytes = sizeof(dbgconsendbuf) - dbgconsendwriteidx;

            memcpy(&dbgconsendbuf[dbgconsendwriteidx], string, bytes);

            dbgconsendwriteidx = 0;

            string = &string[bytes];

            space -= bytes;

            length -= bytes;

        }

        if (space) memcpy(&dbgconsendbuf[dbgconsendwriteidx], string, space);

        dbgconsendwriteidx += space;

        string = &string[space];

        length -= space;

    }

}

void dbgconsole_puts(const char* string)

{

    dbgconsole_write(string, strlen(string));

}

int dbgconsole_getavailable() ICODE_ATTR;

int dbgconsole_getavailable()

{

    int available = dbgconrecvwriteidx - dbgconrecvreadidx;

    if (available < 0) available += sizeof(dbgconrecvbuf);

    return available;

}

int dbgconsole_getc(int timeout)

{

    if (!dbgconsole_getavailable())

    {

        wakeup_wait(&dbgconrecvwakeup, TIMEOUT_NONE);

        if (!dbgconsole_getavailable())

        {

            wakeup_wait(&dbgconrecvwakeup, timeout);

            if (!dbgconsole_getavailable()) return -1;

        }

    }

    int byte = dbgconrecvbuf[dbgconrecvreadidx++];

    if (dbgconrecvreadidx >= sizeof(dbgconrecvbuf))

        dbgconrecvreadidx -= sizeof(dbgconrecvbuf);

    return byte;

}

int dbgconsole_read(char* buffer, size_t length, int timeout)

{

    if (!length) return 0;

    int available = dbgconsole_getavailable();

    if (!available)

    {

        wakeup_wait(&dbgconrecvwakeup, TIMEOUT_NONE);

        int available = dbgconsole_getavailable();

        if (!available)

        {

            wakeup_wait(&dbgconrecvwakeup, timeout);

            int available = dbgconsole_getavailable();

            if (!available) return 0;

        }

    }

    if (available > length) available = length;

    int left = available;

    if (dbgconrecvreadidx + available >= sizeof(dbgconrecvbuf))

    {

        int bytes = sizeof(dbgconrecvbuf) - dbgconrecvreadidx;

        memcpy(buffer, &dbgconrecvbuf[dbgconrecvreadidx], bytes);

        dbgconrecvreadidx = 0;

        buffer = &buffer[bytes];

        left -= bytes;

    }

    if (left) memcpy(buffer, &dbgconrecvbuf[dbgconrecvreadidx], left);

    dbgconrecvreadidx += left;

    return available;

}

void usb_exit(void)

{

    usb_drv_exit();

}