Files
CherryUSB/demo/usbh_net.html

294 lines
23 KiB
HTML
Raw Blame History

This file contains ambiguous Unicode characters
This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.
<!DOCTYPE html>
<html class="writer-html5" lang="en" data-content_root="../">
<head>
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>usbh_net &mdash; CherryUSB 1.5.3 documentation</title>
<link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=80d5e7a1" />
<link rel="stylesheet" type="text/css" href="../_static/css/theme.css?v=e59714d7" />
<script src="../_static/jquery.js?v=5d32c60e"></script>
<script src="../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../_static/documentation_options.js?v=d75fd82e"></script>
<script src="../_static/doctools.js?v=9a2dae69"></script>
<script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="../_static/js/theme.js"></script>
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="usbh_bluetooth" href="usbh_bluetooth.html" />
<link rel="prev" title="usbh_msc" href="usbh_msc.html" />
</head>
<body class="wy-body-for-nav">
<div class="wy-grid-for-nav">
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
<div class="wy-side-scroll">
<div class="wy-side-nav-search" >
<a href="../index.html" class="icon icon-home">
CherryUSB
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
<p class="caption" role="heading"><span class="caption-text">快速上手</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/start.html">入门必看</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/demo.html">基于现有 demo 快速验证</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/transplant.html">芯片通用移植指南</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/rtthread.html">基于 RT-Thread 软件包开发指南</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/q%26a.html">Q &amp; A</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/share.html">开发者经验/开源项目分享</a></li>
<li class="toctree-l1"><a class="reference internal" href="../quick_start/opensource.html">官方开源项目分享</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">USB 基本知识点</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb2.0_basic.html">USB 基本概念(2.0 为主)</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb3.0_basic.html">USB 基本概念(3.0 为主)</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb_desc.html">USB 描述符</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb_request.html">USB 设备请求</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb_enum.html">USB 枚举</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usb/usb_ext.html">USB 知识点拓展</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">API 手册</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../api/api_device.html">设备协议栈</a></li>
<li class="toctree-l1"><a class="reference internal" href="../api/api_host.html">主机协议栈</a></li>
<li class="toctree-l1"><a class="reference internal" href="../api/api_port.html">主从驱动</a></li>
<li class="toctree-l1"><a class="reference internal" href="../api/api_config.html">USB CONFIG 说明</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Class 指南</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../class/class_cdc.html">CDC</a></li>
<li class="toctree-l1"><a class="reference internal" href="../class/class_hid.html">HID</a></li>
<li class="toctree-l1"><a class="reference internal" href="../class/class_msc.html">MSC</a></li>
<li class="toctree-l1"><a class="reference internal" href="../class/class_audio.html">UAC</a></li>
<li class="toctree-l1"><a class="reference internal" href="../class/class_video.html">UVC</a></li>
<li class="toctree-l1"><a class="reference internal" href="../class/winusb.html">WINUSB</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">例程说明</span></p>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="usbd_cdc_acm.html">usbd_cdc_acm</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_hid.html">usbd_hid</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_msc.html">usbd_msc</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_rndis.html">usbd_rndis</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_ecm.html">usbd_cdc_ecm</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_audiov1.html">usbd_audiov1</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_audiov2.html">usbd_audiov2</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_video.html">usbd_video</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_winusb.html">usbd_winusb</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_webusb.html">usbd_webusb</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_adb.html">usbd_adb</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_serial.html">usbh_serial</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_hid.html">usbh_hid</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_msc.html">usbh_msc</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">usbh_net</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_bluetooth.html">usbh_bluetooth</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_wifi.html">usbh_wifi</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbd_vendor.html">vendor device 驱动编写</a></li>
<li class="toctree-l1"><a class="reference internal" href="usbh_vendor.html">vendor host 驱动编写</a></li>
<li class="toctree-l1"><a class="reference internal" href="usb_otg.html">OTG 功能的使用</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">USBIP 介绍</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../usbip/ohci.html">OHCI</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/ehci.html">EHCI</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/xhci.html">XHCI</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/chipidea.html">CHIPIDEA</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/dwc2.html">DWC2</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/musb.html">MUSB</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/fotg210.html">FOTG210</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/cdns2.html">CDNS2</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/cdns3.html">CDNS3</a></li>
<li class="toctree-l1"><a class="reference internal" href="../usbip/dwc3.html">DWC3</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">工具使用</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../tools/index.html">chryusb_configurator</a></li>
<li class="toctree-l1"><a class="reference internal" href="../tools/index.html#usb-protocol-suite">力科 USB Protocol Suite</a></li>
<li class="toctree-l1"><a class="reference internal" href="../tools/index.html#wireshark">Wireshark</a></li>
<li class="toctree-l1"><a class="reference internal" href="../tools/index.html#audacity">Audacity</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">版本说明</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../version.html">版本说明</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">性能展示</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../show/index.html">性能展示</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">商业支持</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../support/index.html">商业支持</a></li>
</ul>
</div>
</div>
</nav>
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="../index.html">CherryUSB</a>
</nav>
<div class="wy-nav-content">
<div class="rst-content">
<div role="navigation" aria-label="Page navigation">
<ul class="wy-breadcrumbs">
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item active">usbh_net</li>
<li class="wy-breadcrumbs-aside">
<a href="../_sources/demo/usbh_net.rst.txt" rel="nofollow"> View page source</a>
</li>
</ul>
<hr/>
</div>
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<section id="usbh-net">
<h1>usbh_net<a class="headerlink" href="#usbh-net" title="Link to this heading"></a></h1>
<p>本节主要介绍 USB 网卡的使用USB 网卡推荐采用 AIR780(RNDIS)EC20(ECM/RNDIS), 手机RNDIS,RTL8152 USB 网卡AX88772 USB 网卡。</p>
<p>USB 网卡传输层面已经对接好了 LWIP 的收发接口,因此,用户只需要包含 <strong>platform/XXX/usbh_lwip.c</strong> 并根据需要开启对应的网卡类的宏即可。</p>
<ul class="simple">
<li><p>当前支持以下网卡类:</p></li>
</ul>
<div class="highlight-C notranslate"><div class="highlight"><pre><span></span><span class="c1">// #define CONFIG_USBHOST_PLATFORM_CDC_ECM</span>
<span class="c1">// #define CONFIG_USBHOST_PLATFORM_CDC_RNDIS</span>
<span class="c1">// #define CONFIG_USBHOST_PLATFORM_CDC_NCM</span>
<span class="c1">// #define CONFIG_USBHOST_PLATFORM_ASIX</span>
<span class="c1">// #define CONFIG_USBHOST_PLATFORM_RTL8152</span>
<span class="c1">// #define CONFIG_USBHOST_PLATFORM_BL616</span>
</pre></div>
</div>
<ul class="simple">
<li><p>包含了对接 LWIP 的输入输出接口,举例如下</p></li>
</ul>
<div class="highlight-C notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="n">err_t</span><span class="w"> </span><span class="nf">usbh_cdc_ecm_linkoutput</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">netif</span><span class="w"> </span><span class="o">*</span><span class="n">netif</span><span class="p">,</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">pbuf</span><span class="w"> </span><span class="o">*</span><span class="n">p</span><span class="p">)</span>
<span class="p">{</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">ret</span><span class="p">;</span>
<span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="n">netif</span><span class="p">;</span>
<span class="w"> </span><span class="n">usbh_lwip_eth_output_common</span><span class="p">(</span><span class="n">p</span><span class="p">,</span><span class="w"> </span><span class="n">usbh_cdc_ecm_get_eth_txbuf</span><span class="p">());</span>
<span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">usbh_cdc_ecm_eth_output</span><span class="p">(</span><span class="n">p</span><span class="o">-&gt;</span><span class="n">tot_len</span><span class="p">);</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ret</span><span class="w"> </span><span class="o">&lt;</span><span class="w"> </span><span class="mi">0</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">ERR_BUF</span><span class="p">;</span>
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">ERR_OK</span><span class="p">;</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">usbh_cdc_ecm_eth_input</span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="kt">uint32_t</span><span class="w"> </span><span class="n">buflen</span><span class="p">)</span>
<span class="p">{</span>
<span class="w"> </span><span class="n">usbh_lwip_eth_input_common</span><span class="p">(</span><span class="o">&amp;</span><span class="n">g_cdc_ecm_netif</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">buflen</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</div>
<ul class="simple">
<li><p>网卡类枚举完成后,注册 netif并且创建网卡接收线程因此使用 RTTHREAD 时不需要使用 RTT 的接收线程模块)。</p></li>
<li><p>必须开启 DHCP client 服务,用于从 USB 网卡获取 IP 地址。</p></li>
</ul>
<div class="highlight-C notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">usbh_cdc_ecm_run</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">usbh_cdc_ecm</span><span class="w"> </span><span class="o">*</span><span class="n">cdc_ecm_class</span><span class="p">)</span>
<span class="p">{</span>
<span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">netif</span><span class="w"> </span><span class="o">*</span><span class="n">netif</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="o">&amp;</span><span class="n">g_cdc_ecm_netif</span><span class="p">;</span>
<span class="w"> </span><span class="n">netif</span><span class="o">-&gt;</span><span class="n">hwaddr_len</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">6</span><span class="p">;</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="n">netif</span><span class="o">-&gt;</span><span class="n">hwaddr</span><span class="p">,</span><span class="w"> </span><span class="n">cdc_ecm_class</span><span class="o">-&gt;</span><span class="n">mac</span><span class="p">,</span><span class="w"> </span><span class="mi">6</span><span class="p">);</span>
<span class="w"> </span><span class="n">IP4_ADDR</span><span class="p">(</span><span class="o">&amp;</span><span class="n">g_ipaddr</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span>
<span class="w"> </span><span class="n">IP4_ADDR</span><span class="p">(</span><span class="o">&amp;</span><span class="n">g_netmask</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span>
<span class="w"> </span><span class="n">IP4_ADDR</span><span class="p">(</span><span class="o">&amp;</span><span class="n">g_gateway</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span>
<span class="w"> </span><span class="n">netif</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">netif_add</span><span class="p">(</span><span class="n">netif</span><span class="p">,</span><span class="w"> </span><span class="o">&amp;</span><span class="n">g_ipaddr</span><span class="p">,</span><span class="w"> </span><span class="o">&amp;</span><span class="n">g_netmask</span><span class="p">,</span><span class="w"> </span><span class="o">&amp;</span><span class="n">g_gateway</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span><span class="w"> </span><span class="n">usbh_cdc_ecm_if_init</span><span class="p">,</span><span class="w"> </span><span class="n">tcpip_input</span><span class="p">);</span>
<span class="w"> </span><span class="n">netif_set_default</span><span class="p">(</span><span class="n">netif</span><span class="p">);</span>
<span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="o">!</span><span class="n">netif_is_up</span><span class="p">(</span><span class="n">netif</span><span class="p">))</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="n">dhcp_handle</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">usb_osal_timer_create</span><span class="p">(</span><span class="s">&quot;dhcp&quot;</span><span class="p">,</span><span class="w"> </span><span class="mi">200</span><span class="p">,</span><span class="w"> </span><span class="n">dhcp_timeout</span><span class="p">,</span><span class="w"> </span><span class="n">netif</span><span class="p">,</span><span class="w"> </span><span class="nb">true</span><span class="p">);</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">dhcp_handle</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="nb">NULL</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">USB_LOG_ERR</span><span class="p">(</span><span class="s">&quot;timer creation failed! </span><span class="se">\r\n</span><span class="s">&quot;</span><span class="p">);</span>
<span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="n">usb_osal_thread_create</span><span class="p">(</span><span class="s">&quot;usbh_cdc_ecm_rx&quot;</span><span class="p">,</span><span class="w"> </span><span class="mi">2048</span><span class="p">,</span><span class="w"> </span><span class="n">CONFIG_USBHOST_PSC_PRIO</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="n">usbh_cdc_ecm_rx_thread</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span>
<span class="cp">#if LWIP_DHCP</span>
<span class="w"> </span><span class="n">dhcp_start</span><span class="p">(</span><span class="n">netif</span><span class="p">);</span>
<span class="w"> </span><span class="n">usb_osal_timer_start</span><span class="p">(</span><span class="n">dhcp_handle</span><span class="p">);</span>
<span class="cp">#endif</span>
<span class="p">}</span>
</pre></div>
</div>
<ul class="simple">
<li><p>获取到 IP 以后,就与 USB 没有关系了,直接使用 LWIP 的接口即可。</p></li>
<li><p>需要注意以下参数</p></li>
</ul>
<p>LWIP_TCPIP_CORE_LOCKING_INPUT 用于不使用 lwip 内置的 tcpip 线程,而使用 USB 自己的处理线程。</p>
<p>LWIP_TCPIP_CORE_LOCKING 在现在 lwip 版本中默认是打开的,也推荐必须打开。</p>
<p>PBUF_POOL_BUFSIZE 推荐大于1600搭配 LWIP_TCPIP_CORE_LOCKING_INPUT 使用,因为我们提供了使用 zero mempy 的方式,使用静态 pbuf而不是把数据 copy 到 pbuf 中。</p>
<p>TCPIP_THREAD_STACKSIZE 推荐大于 1K防止栈溢出。</p>
<div class="highlight-C notranslate"><div class="highlight"><pre><span></span><span class="cp">#if LWIP_TCPIP_CORE_LOCKING_INPUT != 1</span>
<span class="cp">#warning suggest you to set LWIP_TCPIP_CORE_LOCKING_INPUT to 1, usb handles eth input with own thread</span>
<span class="cp">#endif</span>
<span class="cp">#if LWIP_TCPIP_CORE_LOCKING != 1</span>
<span class="cp">#error must set LWIP_TCPIP_CORE_LOCKING to 1</span>
<span class="cp">#endif</span>
<span class="cp">#if PBUF_POOL_BUFSIZE &lt; 1600</span>
<span class="cp">#error PBUF_POOL_BUFSIZE must be larger than 1600</span>
<span class="cp">#endif</span>
<span class="cp">#if TCPIP_THREAD_STACKSIZE &lt; 1024</span>
<span class="cp">#error TCPIP_THREAD_STACKSIZE must be &gt;= 1024</span>
<span class="cp">#endif</span>
</pre></div>
</div>
<ul class="simple">
<li><p>具体移植文章可以参考开发者的一些笔记 <a class="reference external" href="https://club.rt-thread.org/ask/article/5cf3e9e0b2d95800.html">https://club.rt-thread.org/ask/article/5cf3e9e0b2d95800.html</a></p></li>
</ul>
</section>
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
<a href="usbh_msc.html" class="btn btn-neutral float-left" title="usbh_msc" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
<a href="usbh_bluetooth.html" class="btn btn-neutral float-right" title="usbh_bluetooth" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>
<hr/>
<div role="contentinfo">
<p>&#169; Copyright 2022 ~ 2025, sakumisu.</p>
</div>
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
provided by <a href="https://readthedocs.org">Read the Docs</a>.
</footer>
</div>
</div>
</section>
</div>
<script>
jQuery(function () {
SphinxRtdTheme.Navigation.enable(true);
});
</script>
</body>
</html>