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Code Issues Releases Activity

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

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@582 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-05-04 18:54:43 +00:00 committed by gussy
parent 7edfaa5f26
commit 0aba12fe1f
8 changed files with 33 additions and 179 deletions
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1
flight/OpenPilot/Makefile
View File

@ -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

45
flight/OpenPilot/System/inc/op_logging.h
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@ -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 */

1
flight/OpenPilot/System/inc/openpilot.h
View File

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

103
flight/OpenPilot/System/op_logging.c
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@ -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();
// }
}

2
flight/PiOS/Common/pios_com.c
View File

@ -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;

10
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -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;

47
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -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_SendBuffer(GPS, "\r", 1);
PIOS_COM_SendFormattedStringNonBlocking(COM_USB_HID, "Received: %s", Receive_Buffer);
#endif
SetEPRxStatus(ENDP1, EP_RX_VALID);
#endif
}
#endif

3
flight/PiOS/inc/pios_usb_hid.h
View File

@ -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);