e33db80a59
This removes the difference in the time.ticks_us() range between SAMD21 and SAMD51. The function mp_hal_ticks_us_64() is added and used for: - SAMD51's mp_hal_ticks_us and mp_hal_delay_us(). For SAMD21, keep the previous methods, which are faster. - mp_hal_ticks_ms() and mp_hal_tick_ms_64(), which saves some bytes and removes a potential race condition every 50 days. Also set the us-counter for SAMD51 to 16 MHz for a faster reading of the microsecond value. Note: With SAMD51, mp_hal_ticks_us_64() has a 60 bit range only, which is still a long time (~36000 years).
209 lines
6.4 KiB
C
209 lines
6.4 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2019 Damien P. George
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* Copyright (c) 2022 Robert Hammelrath
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "py/runtime.h"
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#include "py/mphal.h"
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#include "py/stream.h"
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#include "shared/runtime/interrupt_char.h"
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#include "extmod/misc.h"
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#include "samd_soc.h"
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#include "tusb.h"
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#ifndef MICROPY_HW_STDIN_BUFFER_LEN
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#define MICROPY_HW_STDIN_BUFFER_LEN 128
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#endif
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extern volatile uint32_t ticks_us64_upper;
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STATIC uint8_t stdin_ringbuf_array[MICROPY_HW_STDIN_BUFFER_LEN];
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ringbuf_t stdin_ringbuf = { stdin_ringbuf_array, sizeof(stdin_ringbuf_array), 0, 0 };
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uint8_t cdc_itf_pending; // keep track of cdc interfaces which need attention to poll
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void poll_cdc_interfaces(void) {
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// any CDC interfaces left to poll?
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if (cdc_itf_pending && ringbuf_free(&stdin_ringbuf)) {
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for (uint8_t itf = 0; itf < 8; ++itf) {
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if (cdc_itf_pending & (1 << itf)) {
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tud_cdc_rx_cb(itf);
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if (!cdc_itf_pending) {
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break;
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}
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}
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}
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}
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}
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void tud_cdc_rx_cb(uint8_t itf) {
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// consume pending USB data immediately to free usb buffer and keep the endpoint from stalling.
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// in case the ringbuffer is full, mark the CDC interface that need attention later on for polling
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cdc_itf_pending &= ~(1 << itf);
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for (uint32_t bytes_avail = tud_cdc_n_available(itf); bytes_avail > 0; --bytes_avail) {
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if (ringbuf_free(&stdin_ringbuf)) {
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int data_char = tud_cdc_read_char();
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#if MICROPY_KBD_EXCEPTION
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if (data_char == mp_interrupt_char) {
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// Clear the ring buffer
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stdin_ringbuf.iget = stdin_ringbuf.iput = 0;
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// and stop
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mp_sched_keyboard_interrupt();
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} else {
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ringbuf_put(&stdin_ringbuf, data_char);
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}
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#else
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ringbuf_put(&stdin_ringbuf, data_char);
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#endif
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} else {
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cdc_itf_pending |= (1 << itf);
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return;
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}
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}
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}
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void mp_hal_set_pin_mux(mp_hal_pin_obj_t pin, uint8_t mux) {
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int pin_grp = pin / 32;
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int port_grp = (pin % 32) / 2;
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PORT->Group[pin_grp].PINCFG[pin % 32].bit.PMUXEN = 1; // Enable Mux
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if (pin & 1) {
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PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXO = mux;
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} else {
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PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXE = mux;
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}
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}
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void mp_hal_clr_pin_mux(mp_hal_pin_obj_t pin) {
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int pin_grp = pin / 32;
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PORT->Group[pin_grp].PINCFG[pin % 32].bit.PMUXEN = 0; // Disable Mux
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}
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void mp_hal_delay_ms(mp_uint_t ms) {
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if (ms > 10) {
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uint32_t t0 = systick_ms;
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while (systick_ms - t0 < ms) {
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MICROPY_EVENT_POLL_HOOK
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}
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} else {
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mp_hal_delay_us(ms * 1000);
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}
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}
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void mp_hal_delay_us(mp_uint_t us) {
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if (us > 0) {
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#if defined(MCU_SAMD21)
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uint32_t start = mp_hal_ticks_us();
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while ((mp_hal_ticks_us() - start) < us) {
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}
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#else
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uint64_t stop = mp_hal_ticks_us_64() + us;
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while (mp_hal_ticks_us_64() < stop) {
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}
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#endif
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}
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}
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uint64_t mp_hal_ticks_us_64(void) {
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uint32_t us64_upper = ticks_us64_upper;
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uint32_t us64_lower;
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uint8_t intflag;
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__disable_irq();
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#if defined(MCU_SAMD21)
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us64_lower = REG_TC4_COUNT32_COUNT;
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intflag = TC4->COUNT32.INTFLAG.reg;
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#elif defined(MCU_SAMD51)
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TC0->COUNT32.CTRLBSET.reg = TC_CTRLBSET_CMD_READSYNC;
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while (TC0->COUNT32.CTRLBSET.reg != 0) {
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}
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us64_lower = REG_TC0_COUNT32_COUNT;
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intflag = TC0->COUNT32.INTFLAG.reg;
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#endif
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__enable_irq();
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if ((intflag & TC_INTFLAG_OVF) && us64_lower < 0x10000000) {
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// The timer counter overflowed before reading it but the IRQ handler
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// has not yet been called, so perform the IRQ arithmetic now.
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us64_upper++;
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}
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#if defined(MCU_SAMD21)
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return ((uint64_t)us64_upper << 32) | us64_lower;
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#elif defined(MCU_SAMD51)
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return ((uint64_t)us64_upper << 28) | (us64_lower >> 4);
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#endif
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}
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uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
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uintptr_t ret = 0;
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poll_cdc_interfaces();
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if ((poll_flags & MP_STREAM_POLL_RD) && ringbuf_peek(&stdin_ringbuf) != -1) {
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ret |= MP_STREAM_POLL_RD;
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}
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#if MICROPY_PY_OS_DUPTERM
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ret |= mp_uos_dupterm_poll(poll_flags);
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#endif
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return ret;
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}
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int mp_hal_stdin_rx_chr(void) {
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for (;;) {
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poll_cdc_interfaces();
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int c = ringbuf_get(&stdin_ringbuf);
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if (c != -1) {
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return c;
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}
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#if MICROPY_PY_OS_DUPTERM
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int dupterm_c = mp_uos_dupterm_rx_chr();
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if (dupterm_c >= 0) {
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return dupterm_c;
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}
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#endif
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MICROPY_EVENT_POLL_HOOK
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}
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}
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void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
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if (tud_cdc_connected()) {
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for (size_t i = 0; i < len;) {
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uint32_t n = len - i;
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if (n > CFG_TUD_CDC_EP_BUFSIZE) {
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n = CFG_TUD_CDC_EP_BUFSIZE;
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}
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while (n > tud_cdc_write_available()) {
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MICROPY_EVENT_POLL_HOOK
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}
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uint32_t n2 = tud_cdc_write(str + i, n);
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tud_cdc_write_flush();
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i += n2;
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}
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}
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#if MICROPY_PY_OS_DUPTERM
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mp_uos_dupterm_tx_strn(str, len);
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#endif
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}
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