Commit fb25c2d9 authored by Damien George's avatar Damien George
Browse files

stmhal: USB CDC and MSC device work together.

parent b32db4e1
......@@ -21,7 +21,7 @@ INC += -I$(PY_SRC)
INC += -I$(CMSIS_DIR)/inc
INC += -I$(CMSIS_DIR)/devinc
INC += -I$(HAL_DIR)/inc
INC += -I$(USBDEV_DIR)/core/inc -I$(USBDEV_DIR)/class/cdc/inc -I$(USBDEV_DIR)/class/msc/inc
INC += -I$(USBDEV_DIR)/core/inc -I$(USBDEV_DIR)/class/cdc_msc/inc
#INC += -I$(USBHOST_DIR)
INC += -I$(FATFS_DIR)/src
#INC += -I$(CC3K_DIR)
......@@ -56,9 +56,8 @@ SRC_C = \
stm32f4xx_it.c \
stm32f4xx_hal_msp.c \
usbd_conf.c \
usbd_desc_vcp.c \
usbd_desc_cdc_msc.c \
usbd_cdc_interface.c \
usbd_desc_msc.c \
usbd_msc_storage.c \
pendsv.c \
systick.c \
......@@ -124,13 +123,14 @@ SRC_USBDEV = $(addprefix $(USBDEV_DIR)/,\
core/src/usbd_core.c \
core/src/usbd_ctlreq.c \
core/src/usbd_ioreq.c \
class/cdc/src/usbd_cdc.c \
class/msc/src/usbd_msc.c \
class/msc/src/usbd_msc_bot.c \
class/msc/src/usbd_msc_scsi.c \
class/msc/src/usbd_msc_data.c \
class/cdc_msc/src/usbd_cdc_msc.c \
class/cdc_msc/src/usbd_msc_bot.c \
class/cdc_msc/src/usbd_msc_scsi.c \
class/cdc_msc/src/usbd_msc_data.c \
)
# class/cdc/src/usbd_cdc.c \
class/msc/src/usbd_msc.c \
# usbd_core.c \
usbd_ioreq.c \
usbd_req.c \
......
......@@ -336,7 +336,6 @@ soft_reset:
fno.lfname = NULL;
fno.lfsize = 0;
#endif
led_debug(0, 500);
FRESULT res = f_stat("0:/boot.py", &fno);
if (res == FR_OK) {
if (fno.fattrib & AM_DIR) {
......
......@@ -2,9 +2,8 @@
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_cdc.h"
#include "usbd_cdc_msc.h"
#include "usbd_cdc_interface.h"
#include "usbd_msc.h"
#include "usbd_msc_storage.h"
#include "misc.h"
......@@ -26,6 +25,7 @@ void pyb_usb_dev_init(usbd_device_kind_t device_kind, usbd_storage_medium_kind_t
if (!dev_is_enabled) {
// only init USB once in the device's power-lifetime
switch (device_kind) {
#if 0
case USBD_DEVICE_CDC:
// XXX USBD_CDC_Init (called by one of these functions below) uses malloc,
// so the memory is invalid after a soft reset (which resets the GC).
......@@ -48,6 +48,21 @@ void pyb_usb_dev_init(usbd_device_kind_t device_kind, usbd_storage_medium_kind_t
}
USBD_Start(&hUSBDDevice);
break;
#endif
case USBD_DEVICE_CDC:
case USBD_DEVICE_MSC:
USBD_Init(&hUSBDDevice, &VCP_Desc, 0);
USBD_RegisterClass(&hUSBDDevice, &USBD_CDC_MSC);
USBD_CDC_RegisterInterface(&hUSBDDevice, (USBD_CDC_ItfTypeDef*)&USBD_CDC_fops);
if (medium_kind == USBD_STORAGE_MEDIUM_FLASH) {
USBD_MSC_RegisterStorage(&hUSBDDevice, (USBD_StorageTypeDef*)&USBD_FLASH_STORAGE_fops);
} else {
USBD_MSC_RegisterStorage(&hUSBDDevice, (USBD_StorageTypeDef*)&USBD_SDCARD_STORAGE_fops);
}
USBD_Start(&hUSBDDevice);
break;
case USBD_DEVICE_HID:
//USBD_Init(&USB_OTG_Core, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_PYB_HID_cb, &USR_cb);
......
......@@ -342,10 +342,12 @@ USBD_StatusTypeDef USBD_LL_Init (USBD_HandleTypeDef *pdev)
pdev->pData = &hpcd;
/*Initialize LL Driver */
HAL_PCD_Init(&hpcd);
HAL_PCD_SetRxFiFo(&hpcd, 0x80);
HAL_PCD_SetTxFiFo(&hpcd, 0, 0x40);
HAL_PCD_SetTxFiFo(&hpcd, 1, 0x80);
HAL_PCD_SetTxFiFo(&hpcd, 0, 0x20);
HAL_PCD_SetTxFiFo(&hpcd, 1, 0x40);
HAL_PCD_SetTxFiFo(&hpcd, 2, 0x20);
HAL_PCD_SetTxFiFo(&hpcd, 3, 0x40);
#endif
......
/**
******************************************************************************
* @file USB_Device/CDC_Standalone/Src/usbd_desc.c
* @author MCD Application Team
* @version V1.0.1
* @date 26-February-2014
* @brief This file provides the USBD descriptors and string formating method.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
*
* 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_conf.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define USBD_VID 0x0483
#define USBD_PID 0x5740
#define USBD_LANGID_STRING 0x409
#define USBD_MANUFACTURER_STRING "STMicroelectronics"
#define USBD_PRODUCT_HS_STRING "STM32 Virtual ComPort in HS Mode"
#define USBD_SERIALNUMBER_HS_STRING "00000000001A"
#define USBD_PRODUCT_FS_STRING "STM32 Virtual ComPort in FS Mode"
#define USBD_SERIALNUMBER_FS_STRING "00000000001B"
#define USBD_CONFIGURATION_HS_STRING "VCP Config"
#define USBD_INTERFACE_HS_STRING "VCP Interface"
#define USBD_CONFIGURATION_FS_STRING "VCP Config"
#define USBD_INTERFACE_FS_STRING "VCP Interface"
/* Private macro -------------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
uint8_t *USBD_VCP_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *USBD_VCP_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#ifdef USB_SUPPORT_USER_STRING_DESC
uint8_t *USBD_VCP_USRStringDesc (USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length);
#endif /* USB_SUPPORT_USER_STRING_DESC */
/* Private variables ---------------------------------------------------------*/
USBD_DescriptorsTypeDef VCP_Desc = {
USBD_VCP_DeviceDescriptor,
USBD_VCP_LangIDStrDescriptor,
USBD_VCP_ManufacturerStrDescriptor,
USBD_VCP_ProductStrDescriptor,
USBD_VCP_SerialStrDescriptor,
USBD_VCP_ConfigStrDescriptor,
USBD_VCP_InterfaceStrDescriptor,
};
/* USB Standard Device Descriptor */
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN static uint8_t hUSBDDeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = {
0x12, /* bLength */
USB_DESC_TYPE_DEVICE, /* bDescriptorType */
0x00, /* bcdUSB */
0x02,
0x00, /* bDeviceClass */
0x00, /* bDeviceSubClass */
0x00, /* bDeviceProtocol */
USB_MAX_EP0_SIZE, /* bMaxPacketSize */
LOBYTE(USBD_VID), /* idVendor */
HIBYTE(USBD_VID), /* idVendor */
LOBYTE(USBD_PID), /* idVendor */
HIBYTE(USBD_PID), /* idVendor */
0x00, /* bcdDevice rel. 2.00 */
0x02,
USBD_IDX_MFC_STR, /* Index of manufacturer string */
USBD_IDX_PRODUCT_STR, /* Index of product string */
USBD_IDX_SERIAL_STR, /* Index of serial number string */
USBD_MAX_NUM_CONFIGURATION /* bNumConfigurations */
}; /* USB_DeviceDescriptor */
/* USB Standard Device Descriptor */
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN static uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] __ALIGN_END = {
USB_LEN_LANGID_STR_DESC,
USB_DESC_TYPE_STRING,
LOBYTE(USBD_LANGID_STRING),
HIBYTE(USBD_LANGID_STRING),
};
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN static uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END;
/* Private functions ---------------------------------------------------------*/
/**
* @brief Returns the device descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
*length = sizeof(hUSBDDeviceDesc);
return hUSBDDeviceDesc;
}
/**
* @brief Returns the LangID string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
*length = sizeof(USBD_LangIDDesc);
return USBD_LangIDDesc;
}
/**
* @brief Returns the product string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_PRODUCT_HS_STRING, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_PRODUCT_FS_STRING, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Returns the manufacturer string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
USBD_GetString((uint8_t *)USBD_MANUFACTURER_STRING, USBD_StrDesc, length);
return USBD_StrDesc;
}
/**
* @brief Returns the serial number string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == USBD_SPEED_HIGH)
{
USBD_GetString((uint8_t *)USBD_SERIALNUMBER_HS_STRING, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_SERIALNUMBER_FS_STRING, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Returns the configuration string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == USBD_SPEED_HIGH)
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_HS_STRING, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_FS_STRING, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Returns the interface string descriptor.
* @param speed: Current device speed
* @param length: Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t *USBD_VCP_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_INTERFACE_HS_STRING, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_INTERFACE_FS_STRING, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
......@@ -27,7 +27,7 @@
******************************************************************************
*/
#include "usbd_msc.h"
#include "usbd_cdc_msc.h"
#include "usbd_msc_storage.h"
#include "misc.h"
......
#ifndef _USB_CDC_MSC_CORE_H_
#define _USB_CDC_MSC_CORE_H_
#include "usbd_msc_bot.h"
#include "usbd_msc_scsi.h"
#include "usbd_ioreq.h"
// CDC endpoint parameters
#define CDC_DATA_FS_MAX_PACKET_SIZE 64 // Endpoint IN & OUT Packet size
#define CDC_CMD_PACKET_SIZE 8 // Control Endpoint Packet size
#define CDC_DATA_FS_IN_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
#define CDC_DATA_FS_OUT_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
#if 0
// CDC
#define USB_CDC_MSC_CONFIG_DESC_SIZ (75)
#define NUM_INTERFACES (2)
#define USE_CDC (1)
#define USE_MSC (0)
#define CDC_IN_EP 0x81 /* EP1 for data IN */
#define CDC_OUT_EP 0x01 /* EP1 for data OUT */
#define CDC_CMD_EP 0x82 /* EP2 for CDC commands */
#define MSC_IN_EP (0x83)
#define MSC_OUT_EP (0x03)
#elif 0
// MSC
#define USB_CDC_MSC_CONFIG_DESC_SIZ (32)
#define NUM_INTERFACES (1)
#define USE_CDC (0)
#define USE_MSC (1)
#define CDC_IN_EP 0x81 /* EP1 for data IN */
#define CDC_OUT_EP 0x01 /* EP1 for data OUT */
#define CDC_CMD_EP 0x82 /* EP2 for CDC commands */
#define MSC_IFACE_NUM (0)
#define MSC_IN_EP (0x81)
#define MSC_OUT_EP (0x01)
#elif 0
// CDC + MSC
#define USB_CDC_MSC_CONFIG_DESC_SIZ (98)
#define NUM_INTERFACES (3)
#define USE_CDC (1)
#define USE_MSC (1)
#define CDC_IFACE_NUM (0)
#define CDC_IN_EP 0x81 /* EP1 for data IN */
#define CDC_OUT_EP 0x01 /* EP1 for data OUT */
#define CDC_CMD_EP 0x82 /* EP2 for CDC commands */
#define MSC_IFACE_NUM (2)
#define MSC_IN_EP (0x83)
#define MSC_OUT_EP (0x03)
#else
// MSC + CDC
#define USB_CDC_MSC_CONFIG_DESC_SIZ (98)
#define NUM_INTERFACES (3)
#define USE_CDC (1)
#define USE_MSC (1)
#define CDC_IFACE_NUM (1)
#define CDC_IN_EP 0x83 /* EP1 for data IN */
#define CDC_OUT_EP 0x03 /* EP1 for data OUT */
#define CDC_CMD_EP 0x82 /* EP2 for CDC commands */
#define MSC_IFACE_NUM (0)
#define MSC_IN_EP (0x81)
#define MSC_OUT_EP (0x01)
#endif
typedef struct {
uint32_t bitrate;
uint8_t format;
uint8_t paritytype;
uint8_t datatype;
} USBD_CDC_LineCodingTypeDef;
typedef struct _USBD_CDC_Itf {
int8_t (* Init) (void);
int8_t (* DeInit) (void);
int8_t (* Control) (uint8_t, uint8_t * , uint16_t);
int8_t (* Receive) (uint8_t *, uint32_t *);
} USBD_CDC_ItfTypeDef;
typedef struct {
uint32_t data[CDC_DATA_FS_MAX_PACKET_SIZE/4]; /* Force 32bits alignment */
uint8_t CmdOpCode;
uint8_t CmdLength;
uint8_t *RxBuffer;
uint8_t *TxBuffer;
uint32_t RxLength;
uint32_t TxLength;
__IO uint32_t TxState;
__IO uint32_t RxState;
} USBD_CDC_HandleTypeDef;
typedef struct _USBD_STORAGE {
int8_t (* Init) (uint8_t lun);
int8_t (* GetCapacity) (uint8_t lun, uint32_t *block_num, uint16_t *block_size);
int8_t (* IsReady) (uint8_t lun);
int8_t (* IsWriteProtected) (uint8_t lun);
int8_t (* Read) (uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len);
int8_t (* Write)(uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len);
int8_t (* GetMaxLun)(void);
int8_t *pInquiry;
} USBD_StorageTypeDef;
typedef struct {
uint32_t max_lun;
uint32_t interface;
uint8_t bot_state;
uint8_t bot_status;
uint16_t bot_data_length;
uint8_t bot_data[MSC_MEDIA_PACKET];
USBD_MSC_BOT_CBWTypeDef cbw;
USBD_MSC_BOT_CSWTypeDef csw;
USBD_SCSI_SenseTypeDef scsi_sense [SENSE_LIST_DEEPTH];
uint8_t scsi_sense_head;
uint8_t scsi_sense_tail;
uint16_t scsi_blk_size;
uint32_t scsi_blk_nbr;
uint32_t scsi_blk_addr;
uint32_t scsi_blk_len;
} USBD_MSC_BOT_HandleTypeDef;
extern USBD_ClassTypeDef USBD_CDC_MSC;
uint8_t USBD_CDC_RegisterInterface (USBD_HandleTypeDef *pdev, USBD_CDC_ItfTypeDef *fops);
uint8_t USBD_CDC_SetTxBuffer (USBD_HandleTypeDef *pdev, uint8_t *pbuff, uint16_t length);
uint8_t USBD_CDC_SetRxBuffer (USBD_HandleTypeDef *pdev, uint8_t *pbuff);
uint8_t USBD_CDC_ReceivePacket (USBD_HandleTypeDef *pdev);
uint8_t USBD_CDC_TransmitPacket (USBD_HandleTypeDef *pdev);
uint8_t USBD_MSC_RegisterStorage(USBD_HandleTypeDef *pdev, USBD_StorageTypeDef *fops);
#endif // _USB_CDC_MSC_CORE_H_
/**
******************************************************************************
* @file usbd_msc_bot.h
* @author MCD Application Team
* @version V2.0.0
* @date 18-February-2014
* @brief header for the usbd_msc_bot.c file
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
*
* 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#include "usbd_core.h"
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_MSC_BOT_H
#define __USBD_MSC_BOT_H
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @{
*/
/** @defgroup MSC_BOT
* @brief This file is the Header file for usbd_bot.c
* @{
*/
/** @defgroup USBD_CORE_Exported_Defines
* @{
*/
#define USBD_BOT_IDLE 0 /* Idle state */
#define USBD_BOT_DATA_OUT 1 /* Data Out state */
#define USBD_BOT_DATA_IN 2 /* Data In state */
#define USBD_BOT_LAST_DATA_IN 3 /* Last Data In Last */
#define USBD_BOT_SEND_DATA 4 /* Send Immediate data */
#define USBD_BOT_NO_DATA 5 /* No data Stage */
#define USBD_BOT_CBW_SIGNATURE 0x43425355
#define USBD_BOT_CSW_SIGNATURE 0x53425355
#define USBD_BOT_CBW_LENGTH 31
#define USBD_BOT_CSW_LENGTH 13
#define USBD_BOT_MAX_DATA 256
/* CSW Status Definitions */
#define USBD_CSW_CMD_PASSED 0x00
#define USBD_CSW_CMD_FAILED 0x01
#define USBD_CSW_PHASE_ERROR 0x02
/* BOT Status */
#define USBD_BOT_STATUS_NORMAL 0
#define USBD_BOT_STATUS_RECOVERY 1
#define USBD_BOT_STATUS_ERROR 2
#define USBD_DIR_IN 0
#define USBD_DIR_OUT 1
#define USBD_BOTH_DIR 2
/**
* @}
*/
/** @defgroup MSC_CORE_Private_TypesDefinitions
* @{
*/
typedef struct
{
uint32_t dSignature;
uint32_t dTag;
uint32_t dDataLength;
uint8_t bmFlags;
uint8_t bLUN;
uint8_t bCBLength;
uint8_t CB[16];
uint8_t ReservedForAlign;
}
USBD_MSC_BOT_CBWTypeDef;
typedef struct
{
uint32_t dSignature;
uint32_t dTag;
uint32_t dDataResidue;
uint8_t bStatus;
uint8_t ReservedForAlign[3];
}
USBD_MSC_BOT_CSWTypeDef;
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_Types
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_FunctionsPrototypes
* @{
*/
void MSC_BOT_Init (USBD_HandleTypeDef *pdev);
void MSC_BOT_Reset (USBD_HandleTypeDef *pdev);
void MSC_BOT_DeInit (USBD_HandleTypeDef *pdev);
void MSC_BOT_DataIn (USBD_HandleTypeDef *pdev,
uint8_t epnum);
void MSC_BOT_DataOut (USBD_HandleTypeDef *pdev,
uint8_t epnum);
void MSC_BOT_SendCSW (USBD_HandleTypeDef *pdev,
uint8_t CSW_Status);
void MSC_BOT_CplClrFeature (USBD_HandleTypeDef *pdev,
uint8_t epnum);
/**
* @}
*/
#endif /* __USBD_MSC_BOT_H */
/**
* @}
*/