1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-11 19:24:10 +01:00
LibrePilot/flight/PipXtreme/transparent_comms.c

231 lines
7.7 KiB
C
Raw Normal View History

/**
******************************************************************************
*
* @file transparent_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Serial communication port handling routines
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <string.h>
#include "stm32f10x.h"
#include "gpio_in.h"
#include "transparent_comms.h"
#include "packet_handler.h"
#include "saved_settings.h"
#include "main.h"
#if defined(PIOS_COM_DEBUG)
#define TRANS_DEBUG
#endif
// *****************************************************************************
// local variables
uint32_t trans_previous_com_port = 0;
volatile uint16_t trans_rx_timer = 0;
volatile uint16_t trans_tx_timer = 0;
uint8_t trans_temp_buffer1[128];
uint8_t trans_temp_buffer2[128];
uint16_t trans_temp_buffer2_wr;
// *****************************************************************************
// can be called from an interrupt if you wish
void trans_1ms_tick(void)
{ // call this once every 1ms
if (trans_rx_timer < 0xffff) trans_rx_timer++;
if (trans_tx_timer < 0xffff) trans_tx_timer++;
}
// *****************************************************************************
// call this as often as possible - not from an interrupt
void trans_process(void)
{ // copy data from comm-port RX buffer to RF packet handler TX buffer, and from RF packet handler RX buffer to comm-port TX buffer
// ********************
// decide which comm-port we are using (usart or usb)
bool usb_comms = false; // TRUE if we are using the usb port for comms.
uint32_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0))
{ // USB comms is up, use the USB comm-port instead of the USART comm-port
usb_comms = true;
comm_port = PIOS_COM_TELEM_USB;
}
#endif
// ********************
// check to see if the local communication port has changed (usart/usb)
if (trans_previous_com_port == 0 && trans_previous_com_port != comm_port)
{ // the local communications port has changed .. remove any data in the buffers
trans_temp_buffer2_wr = 0;
}
else
if (usb_comms)
{ // we're using the USB for comms - keep the USART rx buffer empty
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
bytes--;
}
}
trans_previous_com_port = comm_port; // remember the current comm-port we are using
// ********************
uint16_t connection_index = 0; // the RF connection we are using
// ********************
// send the data received down the comm-port to the RF packet handler TX buffer
if (saved_settings.mode == MODE_NORMAL || saved_settings.mode == MODE_STREAM_TX)
{
// free space size in the RF packet handler tx buffer
uint16_t ph_num = ph_putData_free(connection_index);
// get the number of data bytes received down the comm-port
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
// set the USART RTS handshaking line
if (!usb_comms)
{
if (ph_num < 32 || !ph_connected(connection_index))
SERIAL_RTS_CLEAR; // lower the USART RTS line - we don't have space in the buffer for anymore bytes
else
SERIAL_RTS_SET; // release the USART RTS line - we have space in the buffer for now bytes
}
else
SERIAL_RTS_SET; // release the USART RTS line
// limit number of bytes we will get to the size of the temp buffer
if (com_num > sizeof(trans_temp_buffer1))
com_num = sizeof(trans_temp_buffer1);
// limit number of bytes we will get to the size of the free space in the RF packet handler TX buffer
if (com_num > ph_num)
com_num = ph_num;
// copy data received down the comm-port into our temp buffer
register uint16_t bytes_saved = 0;
while (bytes_saved < com_num)
trans_temp_buffer1[bytes_saved++] = PIOS_COM_ReceiveBuffer(comm_port);
// put the received comm-port data bytes into the RF packet handler TX buffer
if (bytes_saved > 0)
{
trans_rx_timer = 0;
ph_putData(connection_index, trans_temp_buffer1, bytes_saved);
}
}
else
{ // empty the comm-ports rx buffer
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
while (com_num > 0)
PIOS_COM_ReceiveBuffer(comm_port);
}
// ********************
// send the data received via the RF link out the comm-port
if (saved_settings.mode == MODE_NORMAL || saved_settings.mode == MODE_STREAM_RX)
{
if (trans_temp_buffer2_wr < sizeof(trans_temp_buffer2))
{
// get number of data bytes received via the RF link
uint16_t ph_num = ph_getData_used(connection_index);
// limit to how much space we have in the temp buffer
if (ph_num > sizeof(trans_temp_buffer2) - trans_temp_buffer2_wr)
ph_num = sizeof(trans_temp_buffer2) - trans_temp_buffer2_wr;
if (ph_num > 0)
{ // fetch the data bytes received via the RF link and save into our temp buffer
ph_num = ph_getData(connection_index, trans_temp_buffer2 + trans_temp_buffer2_wr, ph_num);
trans_temp_buffer2_wr += ph_num;
}
}
#if (defined(PIOS_COM_DEBUG) && (PIOS_COM_DEBUG == PIOS_COM_SERIAL))
if (!usb_comms)
{ // the serial-port is being used for debugging - don't send data down it
trans_temp_buffer2_wr = 0;
trans_tx_timer = 0;
return;
}
#endif
if (trans_temp_buffer2_wr > 0)
{ // we have data in our temp buffer that needs sending out the comm-port
if (usb_comms || (!usb_comms && GPIO_IN(SERIAL_CTS_PIN)))
{ // we are OK to send the data out the comm-port
// send the data out the comm-port
int32_t res = PIOS_COM_SendBufferNonBlocking(comm_port, trans_temp_buffer2, trans_temp_buffer2_wr); // this one doesn't work properly with USB :(
if (res >= 0)
{ // data was sent out the comm-port OK .. remove the sent data from the temp buffer
trans_temp_buffer2_wr = 0;
trans_tx_timer = 0;
}
else
{ // failed to send the data out the comm-port
#if defined(TRANS_DEBUG)
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", trans_temp_buffer2_wr, res);
#endif
if (trans_tx_timer >= 5000)
trans_temp_buffer2_wr = 0; // seems we can't send our data for at least the last 5 seconds - delete it
}
}
}
}
else
{ // empty the buffer
trans_temp_buffer2_wr = 0;
trans_tx_timer = 0;
}
// ********************
}
// *****************************************************************************
void trans_init(void)
{
trans_previous_com_port = 0;
trans_temp_buffer2_wr = 0;
trans_rx_timer = 0;
trans_tx_timer = 0;
}
// *****************************************************************************