Loopback test of HID working. Still a WIP but committing what I have to show progress.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@582 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -114,7 +114,6 @@ SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
 
 ## OPENPILOT:
 SRC += $(OPSYSTEM)/openpilot.c
-SRC += $(OPSYSTEM)/op_logging.c
 SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c

flight/OpenPilot/System/inc/op_logging.h

@@ -1,45 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_logging.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      OpenPilot Logging Functions header.
- * @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
- */
-
-
-#ifndef OP_LOGGING_H
-#define OP_LOGGING_H
-
-/* Defines */
-#define OP_LOGGING_TASK_PRI	( tskIDLE_PRIORITY + 4 )
-
-/* Type Definitions */
-typedef enum {FLIGHT_LOG, RC_LOG} LogTypeTypeDef;
-typedef struct {
-	LogTypeTypeDef Type;
-	char *Message;
-} LogTypeDef;
-
-
-/* Function Prototypes */
-extern void OP_Logging_Init(void);
-
-
-#endif /* OP_LOGGING_H */

flight/OpenPilot/System/inc/openpilot.h

@@ -33,7 +33,6 @@
 
 /* OpenPilot Libraries */
 #include "op_config.h"
-#include "op_logging.h"
 #include "utlist.h"
 #include "uavobjectmanager.h"
 #include "eventdispatcher.h"

flight/OpenPilot/System/op_logging.c

@@ -1,103 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_logging.c 
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      OpenPilot Logging Functions
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   OP_LOGGING Logging Functions
- * @{
- * 
- *****************************************************************************/
-/* 
- * 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
- */
-
-
-/* OpenPilot Includes */
-#include "openpilot.h"
-
-/* Global Variables */
-xQueueHandle xLoggingQueue;
-
-/* Local Variables */
-static uint8_t FlightLogFilename[128];
-
-/* Local Functions */
-static void OP_Logging_MicroSDGateKeeperTask(void *pvParameters);
-
-
-/**
-* Main function
-*/
-void OP_Logging_Init(void)
-{
-//	uint16_t FileCount;
-//	FILINFO DummyFileInfo;
-//
-//	/* Create the logging queue */
-//	xLoggingQueue = xQueueCreate(15, sizeof(LogTypeDef));
-//
-//	/* This is a crude way to file the next avaiable number avaiable */
-//	/* The proper way would be to use folders with dates, we will get to that later */
-//	for(FileCount = 0; FileCount < 65536; FileCount++) {
-//		sprintf((char *)FlightLogFilename, "Flight_Log_%d.txt", FileCount);
-//		if(f_stat((char *)FlightLogFilename, &DummyFileInfo) != FR_OK) {
-//			/* We have come to a file that doesn't extist */
-//			break;
-//		}
-//	}
-//
-//	/* Start the gatekeeper task */
-//	xTaskCreate(OP_Logging_MicroSDGateKeeperTask, (signed portCHAR *) "Logging_MicroSDGateKeeperTask", configMINIMAL_STACK_SIZE, NULL, OP_LOGGING_TASK_PRI, NULL);
-}
-
-/**
-* Task to handle the MicroSD log que
-*/
-void OP_Logging_MicroSDGateKeeperTask(void *pvParameters)
-{
-//	FIL File;
-//	LogTypeDef pcMessageToLog;
-//
-//	for(;;) {
-//		xQueueReceive(xLoggingQueue, &pcMessageToLog, portMAX_DELAY);
-//
-//		/* We don't want this take to get pre-empted, so enter critical state */
-//		/* If we do get pre-empted we face corrupting the MicroSD filesystem */
-//		taskENTER_CRITICAL();
-//
-//		/* Open the correct log file */
-//		switch(pcMessageToLog.Type) {
-//			case FLIGHT_LOG:
-//				f_open(&File, (char *)FlightLogFilename, FA_OPEN_EXISTING);
-//				break;
-//			case RC_LOG:
-//				break;
-//		}
-//
-//		/* Write the stuff */
-//		f_puts(pcMessageToLog.Message, &File);
-//
-//		/* Sync the MicroSD Card */
-//		f_sync(&File);
-//
-//		/* Close the file */
-//		f_close(&File);
-//
-//		/* Exit the critical stage */
-//		taskEXIT_CRITICAL();
-//	}
-}

flight/PiOS/Common/pios_com.c

@@ -265,7 +265,7 @@ int32_t PIOS_COM_ReceiveBufferUsed(COMPortTypeDef port)
 			return PIOS_USART_RxBufferUsed(USART_3);
 #endif
 		case COM_USB_HID:
-			return PIOS_USB_HID_DATA_LENGTH;
+			return PIOS_USB_HID_RxBufferUsed();
 		/* To suppress warnings */
 		default:
 			return 0;

flight/PiOS/STM32F10x/pios_servo.c

@@ -157,16 +157,8 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
 {
 #ifndef PIOS_ENABLE_DEBUG_PINS
 	/* Make sure servo exists */
-	if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
+	if (Servo <= PIOS_SERVO_NUM_OUTPUTS && Servo > 0)
 	{
-		/* Clip servo position */
-		if(Position < SERVOS_POSITION_MIN) {
-			Position = SERVOS_POSITION_MIN;
-		}
-		if(Position > SERVOS_POSITION_MAX) {
-			Position = SERVOS_POSITION_MAX;
-		}
-
 		/* Update the position */
 		ServoPosition[Servo] = Position;
 

flight/PiOS/STM32F10x/pios_usb_hid.c

@@ -83,7 +83,6 @@ static ONE_DESCRIPTOR PIOS_USB_HID_Hid_Descriptor = {(uint8_t*) PIOS_USB_HID_Rep
 static volatile uint8_t rx_buffer_new_data_ctr = 0;
 static volatile uint8_t rx_buffer_ix;
 static uint8_t transfer_possible = 0;
-
 static uint8_t rx_buffer[PIOS_USB_HID_DATA_LENGTH] = {0};
 
 /**
@@ -144,7 +143,7 @@ int32_t PIOS_USB_HID_CheckAvailable(void)
 int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t *buffer, uint16_t len)
 {
 	if(len > PIOS_USB_HID_DATA_LENGTH) {
-		/* Cannot get all requested bytes */
+		/* Cannot send all requested bytes */
 		return -1;
 	}
 
@@ -183,7 +182,7 @@ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t *buffer, uint16_t len)
 * \return >= 0: received byte
 * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
 */
-int32_t PIOS_USB_HID_RxBufferGet(void)
+uint8_t PIOS_USB_HID_RxBufferGet(void)
 {
 	if(!rx_buffer_new_data_ctr) {
 		/* Nothing new in buffer */
@@ -192,30 +191,45 @@ int32_t PIOS_USB_HID_RxBufferGet(void)
 
 	/* This stops returning bytes after the first occurrence of '\0' */
 	/* We don't need to do this but it does optimise things quite a bit */
-	//if(rx_buffer[rx_buffer_ix] == 0) {
+	if(rx_buffer[rx_buffer_ix] == 0) {
 		/* TODO: Evaluate if this is really needed */
 		/* Clean the buffer */
-		/*for(uint8_t i = 0; i < PIOS_USB_HID_DATA_LENGTH; i++) {
+		for(uint8_t i = 0; i < PIOS_USB_HID_DATA_LENGTH; i++) {
 			rx_buffer[i] = 0;
 		}
 
 		rx_buffer_new_data_ctr = 0;
 		rx_buffer_ix = 0;
-		SetEPRxStatus(ENDP1, EP_RX_VALID);
+		//SetEPRxStatus(ENDP1, EP_RX_VALID);
 		return -1;
-	}*/
+	}
 
 	/* There is still data in the buffer */
 	uint8_t b = rx_buffer[rx_buffer_ix++];
 	if(!--rx_buffer_new_data_ctr) {
 		rx_buffer_ix = 0;
-		SetEPRxStatus(ENDP1, EP_RX_VALID);
+		//SetEPRxStatus(ENDP1, EP_RX_VALID);
 	}
 
 	/* Return received byte */
 	return b;
 }
 
+/**
+* Returns number of used bytes in receive buffer
+* \return > 0: number of used bytes
+* \return 0 nothing available
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
+*/
+int32_t PIOS_USB_HID_RxBufferUsed(void)
+{
+	if(!rx_buffer_new_data_ctr) {
+		return 0;
+	} else {
+		return PIOS_USB_HID_DATA_LENGTH;
+	}
+}
+
 int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo)
 {
 	uint8_t *(*CopyRoutine)( uint16_t) = NULL;
@@ -302,7 +316,7 @@ static uint8_t *PIOS_USB_HID_GetProtocolValue(uint16_t Length)
 */
 void PIOS_USB_HID_EP1_OUT_Callback(void)
 {
-#if 1
+#if 0
 	uint32_t DataLength = 0;
 
 	/* Get the number of received data on the selected Endpoint */
@@ -313,28 +327,25 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
 
 	/* We now have data waiting */
 	rx_buffer_new_data_ctr = PIOS_USB_HID_DATA_LENGTH;
-
 #else
 	// FOR DEBUGGING USE ONLY
-
 	uint8_t Receive_Buffer[PIOS_USB_HID_DATA_LENGTH];
-	//uint32_t DataLength = 0;
+	uint32_t DataLength = 0;
 
 	/* Read received data (63 bytes) */
-	USB_SIL_Read(EP1_OUT, Receive_Buffer);
+	//USB_SIL_Read(EP1_OUT, Receive_Buffer);
 
 	/* Get the number of received data on the selected Endpoint */
-	//DataLength = GetEPRxCount(ENDP1 & 0x7F);
+	DataLength = GetEPRxCount(ENDP1 & 0x7F);
 
 	/* Use the memory interface function to write to the selected endpoint */
-	//PMAToUserBufferCopy((uint8_t *) Receive_Buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
+	PMAToUserBufferCopy((uint8_t *) Receive_Buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
 
 	/* Send it back */
-	PIOS_COM_SendBuffer(GPS, Receive_Buffer, sizeof(Receive_Buffer));
+	PIOS_COM_SendFormattedStringNonBlocking(COM_USB_HID, "Received: %s", Receive_Buffer);
-	PIOS_COM_SendBuffer(GPS, "\r", 1);
+#endif
 
 	SetEPRxStatus(ENDP1, EP_RX_VALID);
-#endif
 }
 
 #endif

flight/PiOS/inc/pios_usb_hid.h

@@ -42,7 +42,8 @@ extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected);
 extern int32_t PIOS_USB_HID_CheckAvailable(void);
 extern int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t *buffer, uint16_t len);
 extern int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_USB_HID_RxBufferGet(void);
+extern uint8_t PIOS_USB_HID_RxBufferGet(void);
+extern int32_t PIOS_USB_HID_RxBufferUsed(void);
 extern int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo);
 extern int32_t PIOS_USB_HID_CB_NoData_Setup(uint8_t RequestNo);
 extern void PIOS_USB_HID_EP1_OUT_Callback(void);