X-Git-Url: http://git.linex4red.de/pub/lufa.git/blobdiff_plain/c20a94a4e84c89debf5e7109482ede708a694a0c..5de364163f5a7597ba2f54e37cdea493fbd1e7ff:/LUFA/Drivers/USB/LowLevel/Endpoint.c

diff --git a/LUFA/Drivers/USB/LowLevel/Endpoint.c b/LUFA/Drivers/USB/LowLevel/Endpoint.c
index da2925ec7..6d59510b8 100644
--- a/LUFA/Drivers/USB/LowLevel/Endpoint.c
+++ b/LUFA/Drivers/USB/LowLevel/Endpoint.c
@@ -39,22 +39,12 @@
 uint8_t USB_ControlEndpointSize = ENDPOINT_CONTROLEP_DEFAULT_SIZE;
 #endif
 
-#if !defined(STATIC_ENDPOINT_CONFIGURATION)
-bool Endpoint_ConfigureEndpoint(const uint8_t  Number, const uint8_t Type, const uint8_t Direction,
-			                    const uint16_t Size, const uint8_t Banks)
+uint8_t Endpoint_BytesToEPSizeMaskDynamic(const uint16_t Size)
 {
-	Endpoint_SelectEndpoint(Number);
-	Endpoint_EnableEndpoint();
-
-	UECFG1X = 0;	
-
-	UECFG0X = ((Type << EPTYPE0) | Direction);
-	UECFG1X = ((1 << ALLOC) | Banks | Endpoint_BytesToEPSizeMask(Size));
-
-	return Endpoint_IsConfigured();
+	return Endpoint_BytesToEPSizeMask(Size);
 }
-#else
-bool Endpoint_ConfigureEndpointStatic(const uint8_t Number, const uint8_t UECFG0XData, const uint8_t UECFG1XData)
+
+bool Endpoint_ConfigureEndpoint_Prv(const uint8_t Number, const uint8_t UECFG0XData, const uint8_t UECFG1XData)
 {
 	Endpoint_SelectEndpoint(Number);
 	Endpoint_EnableEndpoint();
@@ -66,7 +56,6 @@ bool Endpoint_ConfigureEndpointStatic(const uint8_t Number, const uint8_t UECFG0
 
 	return Endpoint_IsConfigured();
 }
-#endif
 
 void Endpoint_ClearEndpoints(void)
 {
@@ -82,12 +71,38 @@ void Endpoint_ClearEndpoints(void)
 	}
 }
 
+void Endpoint_ClearStatusStage(void)
+{
+	if (USB_ControlRequest.bmRequestType & REQDIR_DEVICETOHOST)
+	{
+		while (!(Endpoint_IsOUTReceived()))
+		{
+			if (USB_DeviceState == DEVICE_STATE_Unattached)
+			  return;
+		}
+
+		Endpoint_ClearOUT();
+	}
+	else
+	{
+		while (!(Endpoint_IsINReady()))
+		{
+			if (USB_DeviceState == DEVICE_STATE_Unattached)
+			  return;
+		}
+		
+		Endpoint_ClearIN();
+	}
+}
+
 #if !defined(CONTROL_ONLY_DEVICE)
 uint8_t Endpoint_WaitUntilReady(void)
 {
+	#if (USB_STREAM_TIMEOUT_MS < 0xFF)
+	uint8_t  TimeoutMSRem = USB_STREAM_TIMEOUT_MS;	
+	#else
 	uint16_t TimeoutMSRem = USB_STREAM_TIMEOUT_MS;
-
-	USB_INT_Clear(USB_INT_SOFI);
+	#endif
 
 	for (;;)
 	{
@@ -102,7 +117,7 @@ uint8_t Endpoint_WaitUntilReady(void)
 			  return ENDPOINT_READYWAIT_NoError;		
 		}
 		
-		if (!(USB_IsConnected))
+		if (USB_DeviceState == DEVICE_STATE_Unattached)
 		  return ENDPOINT_READYWAIT_DeviceDisconnected;
 		else if (Endpoint_IsStalled())
 		  return ENDPOINT_READYWAIT_EndpointStalled;
@@ -119,7 +134,7 @@ uint8_t Endpoint_WaitUntilReady(void)
 
 uint8_t Endpoint_Discard_Stream(uint16_t Length
 #if !defined(NO_STREAM_CALLBACKS)
-                                , uint8_t (* const Callback)(void)
+                                , StreamCallbackPtr_t Callback
 #endif
 								)
 {
@@ -128,147 +143,47 @@ uint8_t Endpoint_Discard_Stream(uint16_t Length
 	if ((ErrorCode = Endpoint_WaitUntilReady()))
 	  return ErrorCode;
 
-	while (Length--)
-	{
-		if (!(Endpoint_IsReadWriteAllowed()))
-		{
-			Endpoint_ClearOUT();
-
-			#if !defined(NO_STREAM_CALLBACKS)
-			if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
-			  return ENDPOINT_RWSTREAM_ERROR_CallbackAborted;
-			#endif
-
-			if ((ErrorCode = Endpoint_WaitUntilReady()))
-			  return ErrorCode;
-		}
-		else
-		{
-			Endpoint_Discard_Byte();
-		}
-	}
-	
-	return ENDPOINT_RWSTREAM_ERROR_NoError;
-}
-
-uint8_t Endpoint_Write_Stream_LE(const void* Buffer, uint16_t Length
-#if !defined(NO_STREAM_CALLBACKS)
-                                 , uint8_t (* const Callback)(void)
-#endif
-								 )
-{
-	uint8_t* DataStream   = (uint8_t*)Buffer;
-	uint8_t  ErrorCode;
-	
-	if ((ErrorCode = Endpoint_WaitUntilReady()))
-	  return ErrorCode;
-
-	while (Length--)
-	{
-		if (!(Endpoint_IsReadWriteAllowed()))
-		{
-			Endpoint_ClearIN();
-			
-			#if !defined(NO_STREAM_CALLBACKS)
-			if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
-			  return ENDPOINT_RWSTREAM_ERROR_CallbackAborted;
-			#endif
-
-			if ((ErrorCode = Endpoint_WaitUntilReady()))
-			  return ErrorCode;
-		}
-		else
-		{
-			Endpoint_Write_Byte(*(DataStream++));
-		}
-	}
-	
-	return ENDPOINT_RWSTREAM_ERROR_NoError;
-}
-
-uint8_t Endpoint_Write_Stream_BE(const void* Buffer, uint16_t Length
-#if !defined(NO_STREAM_CALLBACKS)
-                                 , uint8_t (* const Callback)(void)
-#endif
-								 )
-{
-	uint8_t* DataStream = (uint8_t*)(Buffer + Length - 1);
-	uint8_t  ErrorCode;
-	
-	if ((ErrorCode = Endpoint_WaitUntilReady()))
-	  return ErrorCode;
+	#if defined(FAST_STREAM_TRANSFERS)
+	uint8_t BytesRemToAlignment = (Endpoint_BytesInEndpoint() & 0x07);
 
-	while (Length--)
+	if (Length >= 8)
 	{
-		if (!(Endpoint_IsReadWriteAllowed()))
-		{
-			Endpoint_ClearIN();
+		Length -= BytesRemToAlignment;
 
-			#if !defined(NO_STREAM_CALLBACKS)
-			if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
-			  return ENDPOINT_RWSTREAM_ERROR_CallbackAborted;
-			#endif
-
-			if ((ErrorCode = Endpoint_WaitUntilReady()))
-			  return ErrorCode;
-		}
-		else
+		switch (BytesRemToAlignment)
 		{
-			Endpoint_Write_Byte(*(DataStream--));
+			default:
+				do
+				{
+					if (!(Endpoint_IsReadWriteAllowed()))
+					{
+						Endpoint_ClearOUT();
+
+						#if !defined(NO_STREAM_CALLBACKS)
+						if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
+						  return ENDPOINT_RWSTREAM_CallbackAborted;
+						#endif
+
+						if ((ErrorCode = Endpoint_WaitUntilReady()))
+						  return ErrorCode;
+					}
+
+					Length -= 8;
+					
+					Endpoint_Discard_Byte();
+			case 7: Endpoint_Discard_Byte();
+			case 6: Endpoint_Discard_Byte();
+			case 5: Endpoint_Discard_Byte();
+			case 4: Endpoint_Discard_Byte();
+			case 3: Endpoint_Discard_Byte();
+			case 2: Endpoint_Discard_Byte();
+			case 1:	Endpoint_Discard_Byte();
+				} while (Length >= 8);	
 		}
 	}
-	
-	return ENDPOINT_RWSTREAM_ERROR_NoError;
-}
-
-uint8_t Endpoint_Read_Stream_LE(void* Buffer, uint16_t Length
-#if !defined(NO_STREAM_CALLBACKS)
-                                 , uint8_t (* const Callback)(void)
-#endif
-								 )
-{
-	uint8_t* DataStream = (uint8_t*)Buffer;
-	uint8_t  ErrorCode;
-	
-	if ((ErrorCode = Endpoint_WaitUntilReady()))
-	  return ErrorCode;
+	#endif
 
-	while (Length--)
-	{
-		if (!(Endpoint_IsReadWriteAllowed()))
-		{
-			Endpoint_ClearOUT();
-
-			#if !defined(NO_STREAM_CALLBACKS)
-			if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
-			  return ENDPOINT_RWSTREAM_ERROR_CallbackAborted;
-			#endif
-
-			if ((ErrorCode = Endpoint_WaitUntilReady()))
-			  return ErrorCode;
-		}
-		else
-		{
-			*(DataStream++) = Endpoint_Read_Byte();
-		}
-	}
-	
-	return ENDPOINT_RWSTREAM_ERROR_NoError;
-}
-
-uint8_t Endpoint_Read_Stream_BE(void* Buffer, uint16_t Length
-#if !defined(NO_STREAM_CALLBACKS)
-                                 , uint8_t (* const Callback)(void)
-#endif
-								 )
-{
-	uint8_t* DataStream = (uint8_t*)(Buffer + Length - 1);
-	uint8_t  ErrorCode;
-	
-	if ((ErrorCode = Endpoint_WaitUntilReady()))
-	  return ErrorCode;
-
-	while (Length--)
+	while (Length)
 	{
 		if (!(Endpoint_IsReadWriteAllowed()))
 		{
@@ -276,7 +191,7 @@ uint8_t Endpoint_Read_Stream_BE(void* Buffer, uint16_t Length
 
 			#if !defined(NO_STREAM_CALLBACKS)
 			if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
-			  return ENDPOINT_RWSTREAM_ERROR_CallbackAborted;
+			  return ENDPOINT_RWSTREAM_CallbackAborted;
 			#endif
 
 			if ((ErrorCode = Endpoint_WaitUntilReady()))
@@ -284,128 +199,134 @@ uint8_t Endpoint_Read_Stream_BE(void* Buffer, uint16_t Length
 		}
 		else
 		{
-			*(DataStream--) = Endpoint_Read_Byte();
-		}
-	}
-	
-	return ENDPOINT_RWSTREAM_ERROR_NoError;
-}
-#endif
-
-uint8_t Endpoint_Write_Control_Stream_LE(const void* Buffer, uint16_t Length)
-{
-	uint8_t* DataStream    = (uint8_t*)Buffer;
-	bool     LastPacketFull = false;
-	bool     ShortTransfer = (Length < USB_ControlRequest.wLength);
-	
-	while (Length && !(Endpoint_IsOUTReceived()))
-	{
-		while (!(Endpoint_IsINReady()));
-		
-		while (Length && (Endpoint_BytesInEndpoint() < USB_ControlEndpointSize))
-		{
-			Endpoint_Write_Byte(*(DataStream++));
-			
-			Length--;
-		}
-		
-		LastPacketFull = (Endpoint_BytesInEndpoint() == USB_ControlEndpointSize);
-		Endpoint_ClearIN();
-	}
-	
-	if (Endpoint_IsOUTReceived())
-	  return ENDPOINT_RWCSTREAM_ERROR_HostAborted;
-	
-	if (LastPacketFull || ShortTransfer)
-	{
-		while (!(Endpoint_IsINReady()));
-		Endpoint_ClearIN();
-	}
-	
-	while (!(Endpoint_IsOUTReceived()));
-
-	return ENDPOINT_RWCSTREAM_ERROR_NoError;
-}
-
-uint8_t Endpoint_Write_Control_Stream_BE(const void* Buffer, uint16_t Length)
-{
-	uint8_t* DataStream     = (uint8_t*)(Buffer + Length - 1);
-	bool     LastPacketFull = false;
-	bool     ShortTransfer  = (Length < USB_ControlRequest.wLength);
-	
-	while (Length && !(Endpoint_IsOUTReceived()))
-	{
-		while (!(Endpoint_IsINReady()));
-		
-		while (Length && (Endpoint_BytesInEndpoint() < USB_ControlEndpointSize))
-		{
-			Endpoint_Write_Byte(*(DataStream--));
-			
+			Endpoint_Discard_Byte();
 			Length--;
 		}
-		
-		LastPacketFull = (Endpoint_BytesInEndpoint() == USB_ControlEndpointSize);
-		Endpoint_ClearIN();
-	}
-	
-	if (Endpoint_IsOUTReceived())
-	  return ENDPOINT_RWCSTREAM_ERROR_HostAborted;
-	
-	if (LastPacketFull || ShortTransfer)
-	{
-		while (!(Endpoint_IsINReady()));
-		Endpoint_ClearIN();
 	}
 	
-	while (!(Endpoint_IsOUTReceived()));
-
-	return ENDPOINT_RWCSTREAM_ERROR_NoError;
+	return ENDPOINT_RWSTREAM_NoError;
 }
 
-uint8_t Endpoint_Read_Control_Stream_LE(void* Buffer, uint16_t Length)
-{
-	uint8_t* DataStream = (uint8_t*)Buffer;
-	
-	while (Length)
-	{
-		while (!(Endpoint_IsOUTReceived()));
-		
-		while (Length && Endpoint_BytesInEndpoint())
-		{
-			*(DataStream++) = Endpoint_Read_Byte();
-			
-			Length--;
-		}
-		
-		Endpoint_ClearOUT();
-	}
-	
-	while (!(Endpoint_IsINReady()));
-	
-	return ENDPOINT_RWCSTREAM_ERROR_NoError;
-}
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Stream_LE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(*((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_PStream_LE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_EStream_LE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Stream_BE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(*((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_EStream_BE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_PStream_BE
+#define  TEMPLATE_BUFFER_TYPE                      const void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearIN()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Stream_LE
+#define  TEMPLATE_BUFFER_TYPE                      void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearOUT()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         *((uint8_t*)BufferPtr++) = Endpoint_Read_Byte()
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_EStream_LE
+#define  TEMPLATE_BUFFER_TYPE                      void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearOUT()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         eeprom_write_byte((uint8_t*)BufferPtr++, Endpoint_Read_Byte())
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Stream_BE
+#define  TEMPLATE_BUFFER_TYPE                      void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearOUT()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         *((uint8_t*)BufferPtr--) = Endpoint_Read_Byte()
+#include "Template/Template_Endpoint_RW.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_EStream_BE
+#define  TEMPLATE_BUFFER_TYPE                      void*
+#define  TEMPLATE_CLEAR_ENDPOINT()                 Endpoint_ClearOUT()
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         eeprom_write_byte((uint8_t*)BufferPtr--, Endpoint_Read_Byte())
+#include "Template/Template_Endpoint_RW.c"
 
-uint8_t Endpoint_Read_Control_Stream_BE(void* Buffer, uint16_t Length)
-{
-	uint8_t* DataStream = (uint8_t*)(Buffer + Length - 1);
-	
-	while (Length)
-	{
-		while (!(Endpoint_IsOUTReceived()));
-		
-		while (Length && Endpoint_BytesInEndpoint())
-		{
-			*(DataStream--) = Endpoint_Read_Byte();
-			
-			Length--;
-		}
-		
-		Endpoint_ClearOUT();
-	}
-	
-	while (!(Endpoint_IsINReady()));
+#endif
 
-	return ENDPOINT_RWCSTREAM_ERROR_NoError;
-}
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_Stream_LE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(*((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_PStream_LE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_EStream_LE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr++))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_Stream_BE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(*((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_PStream_BE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Write_Control_EStream_BE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr--))
+#include "Template/Template_Endpoint_Control_W.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Control_Stream_LE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         *((uint8_t*)BufferPtr++) = Endpoint_Read_Byte()
+#include "Template/Template_Endpoint_Control_R.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Control_EStream_LE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            0
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         eeprom_write_byte((uint8_t*)BufferPtr++, Endpoint_Read_Byte())
+#include "Template/Template_Endpoint_Control_R.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Control_Stream_BE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         *((uint8_t*)BufferPtr--) = Endpoint_Read_Byte()
+#include "Template/Template_Endpoint_Control_R.c"
+
+#define  TEMPLATE_FUNC_NAME                        Endpoint_Read_Control_EStream_BE
+#define  TEMPLATE_BUFFER_OFFSET(Length)            Length - 1
+#define  TEMPLATE_TRANSFER_BYTE(BufferPtr)         eeprom_write_byte((uint8_t*)BufferPtr--, Endpoint_Read_Byte())
+#include "Template/Template_Endpoint_Control_R.c"
 
 #endif