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com_msg: Create new message based COM layer for bootloaders

Browse Source 
The main purpose of this new COM implementation is that it is
much simpler, and requires less code space.  This takes a bit
of the pressure off of the CC bootloader which was right at
the limit of available code space in the bootloader partition.

This is not intended to ever be used by the application.

This driver also formalizes the assumptions in the bootloader's
usage of the COM layer.  All messages are assumed to arrive
in atomic chunks from the HID layer.
This commit is contained in:
Stacey Sheldon 2012-01-12 19:53:52 -05:00
parent fb0fbb150d
commit 2d27c54d48
21 changed files with 345 additions and 91 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/Bootloaders/CopterControl/Makefile
View File

@ -116,7 +116,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/printf-stdarg.c

2
flight/Bootloaders/CopterControl/inc/pios_config.h
View File

@ -39,7 +39,7 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
#define PIOS_NO_GPS

5
flight/Bootloaders/CopterControl/main.c
View File

@ -32,6 +32,7 @@
#include "usb_lib.h"
#include "pios_iap.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
@ -198,7 +199,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
}
uint8_t processRX() {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return TRUE;

5
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
//programmable devices
Device devicesTable[10];
@ -446,9 +447,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
}
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

20
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -27,17 +27,11 @@
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_priv.h>
#include <pios_com_msg_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_COM_MSG */
// ***********************************************************************************
@ -97,17 +91,15 @@ void PIOS_Board_Init(void) {
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */

1
flight/Bootloaders/OpenPilot/Makefile
View File

@ -119,6 +119,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c

1
flight/Bootloaders/OpenPilot/inc/pios_config.h
View File

@ -42,6 +42,7 @@
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
//#define DEBUG_SSP

5
flight/Bootloaders/OpenPilot/main.c
View File

@ -35,6 +35,7 @@
#include "pios_iap.h"
#include "ssp.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -90,7 +91,7 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
@ -249,7 +250,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
if (ProgPort == Usb) {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
} else if (ProgPort == Serial) {

9
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "ssp.h"
@ -299,7 +300,6 @@ void processComand(uint8_t *xReceive_Buffer) {
++Next_Packet;
} else {
DeviceState = wrong_packet_received;
Aditionals = Count;
}
@ -508,6 +508,7 @@ uint32_t baseOfAdressType(DFUTransfer type) {
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
break;
default:
return 0;
}
}
@ -550,11 +551,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
if (ProgPort == Usb) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(10);
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
} else if (ProgPort == Serial) {
ssp_SendData(&ssp_port, buf, size);
}

24
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -184,12 +184,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
@ -198,6 +192,16 @@ static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
@ -270,17 +274,15 @@ void PIOS_Board_Init(void) {
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */

2
flight/Bootloaders/PipXtreme/Makefile
View File

@ -115,7 +115,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/printf-stdarg.c

2
flight/Bootloaders/PipXtreme/inc/pios_config.h
View File

@ -38,7 +38,7 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
//#define DEBUG_SSP

5
flight/Bootloaders/PipXtreme/main.c
View File

@ -32,6 +32,7 @@
#include "usb_lib.h"
#include "pios_iap.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
@ -204,7 +205,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
}
uint8_t processRX() {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return TRUE;

30
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
@ -102,33 +103,9 @@ void DataDownload(DownloadAction action) {
currentProgrammingDestination)) {
DeviceState = Last_operation_failed;
}
/*
switch (currentProgrammingDestination) {
case Remote_flash_via_spi:
if (downType == Descript) {
SendBuffer[6 + (x * 4)]
= spi_dev_desc[(uint8_t) partoffset];
SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 1];
SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 2];
SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 3];
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
}
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
downPacketCurrent = downPacketCurrent + 1;
if (downPacketCurrent > downPacketTotal - 1) {
// STM_EVAL_LEDOn(LED2);
DeviceState = Last_operation_Success;
Aditionals = (uint32_t) Download;
}
@ -322,7 +299,6 @@ void processComand(uint8_t *xReceive_Buffer) {
Buffer[15] = devicesTable[Data0 - 1].devID;
}
sendData(Buffer + 1, 63);
//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
break;
case JumpFW:
FLASH_Lock();
@ -474,9 +450,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(10);
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
}
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

25
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -27,17 +27,11 @@
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_priv.h>
#include <pios_com_msg_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_COM_MSG */
// ***********************************************************************************
@ -98,17 +92,16 @@ void PIOS_Board_Init(void) {
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
uint32_t pios_usb_com_id;
if (PIOS_USB_HID_Init(&pios_usb_com_id, &pios_usb_hid_cfg, pios_usb_id)) {
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

185
flight/PiOS/Common/pios_com_msg.c Normal file
View File

@ -0,0 +1,185 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM MSG layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com_msg.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief COM MSG layer functions
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_COM_MSG)
#include "pios_com.h"
#define PIOS_COM_MSG_MAX_LEN 63
struct pios_com_msg_dev {
uint32_t lower_id;
const struct pios_com_driver * driver;
uint8_t rx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
volatile bool rx_msg_full;
uint8_t tx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
volatile bool tx_msg_full;
};
static struct pios_com_msg_dev com_msg_dev;
static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id)
{
PIOS_Assert(com_id);
PIOS_Assert(driver);
PIOS_Assert(driver->bind_tx_cb);
PIOS_Assert(driver->bind_rx_cb);
struct pios_com_msg_dev * com_dev = &com_msg_dev;
com_dev->driver = driver;
com_dev->lower_id = lower_id;
com_dev->rx_msg_full = false;
(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_MSG_RxInCallback, (uint32_t)com_dev);
(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
com_dev->tx_msg_full = false;
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_MSG_TxOutCallback, (uint32_t)com_dev);
*com_id = (uint32_t)com_dev;
return(0);
}
static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
PIOS_Assert(buf);
PIOS_Assert(buf_len);
uint16_t bytes_from_fifo = 0;
if (com_dev->tx_msg_full && (buf_len >= sizeof(com_dev->tx_msg_buffer))) {
/* Room for an entire message, send it */
memcpy(buf, com_dev->tx_msg_buffer, sizeof(com_dev->tx_msg_buffer));
bytes_from_fifo = sizeof(com_dev->tx_msg_buffer);
com_dev->tx_msg_full = false;
}
if (headroom) {
if (com_dev->tx_msg_full) {
*headroom = sizeof(com_dev->tx_msg_buffer);
} else {
*headroom = 0;
}
}
return (bytes_from_fifo);
}
static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
uint16_t bytes_into_fifo = 0;
if (!com_dev->rx_msg_full && (buf_len >= sizeof(com_dev->rx_msg_buffer))) {
memcpy(com_dev->rx_msg_buffer, buf, sizeof(com_dev->rx_msg_buffer));
bytes_into_fifo = sizeof(com_dev->rx_msg_buffer);
com_dev->rx_msg_full = true;
}
if (headroom) {
if (!com_dev->rx_msg_full) {
*headroom = sizeof(com_dev->rx_msg_buffer);
} else {
*headroom = 0;
}
}
return (bytes_into_fifo);
}
int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len)
{
PIOS_Assert(msg);
PIOS_Assert(msg_len);
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
PIOS_Assert(msg_len == sizeof(com_dev->tx_msg_buffer));
/* Wait forever for room in the tx buffer */
while (com_dev->tx_msg_full) {
/* Kick the transmitter while we wait */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
}
}
memcpy((void *) com_dev->tx_msg_buffer, msg, msg_len);
com_dev->tx_msg_full = true;
/* Kick the transmitter now that we've queued our message */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
}
return 0;
}
uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * msg, uint16_t msg_len)
{
PIOS_Assert(msg);
PIOS_Assert(msg_len);
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
PIOS_Assert(msg_len == sizeof(com_dev->rx_msg_buffer));
if (!com_dev->rx_msg_full) {
/* There's room in our buffer, kick the receiver */
(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
} else {
memcpy(msg, com_dev->rx_msg_buffer, msg_len);
com_dev->rx_msg_full = false;
return msg_len;
}
return 0;
}
#endif /* PIOS_INCLUDE_COM_MSG */
/**
* @}
* @}
*/

18
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -207,9 +207,15 @@ static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) {
}
// If endpoint was stalled and there is now space make it valid
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
#else
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
#endif
PIOS_IRQ_Disable();
if ((GetEPRxStatus(usb_hid_dev->cfg->data_rx_ep) != EP_RX_VALID) &&
(rx_bytes_avail >= PIOS_USB_BOARD_HID_DATA_LENGTH)) {
(rx_bytes_avail >= max_payload_length)) {
SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID);
}
PIOS_IRQ_Enable();
@ -328,7 +334,15 @@ static void PIOS_USB_HID_EP_OUT_Callback(void)
&headroom,
&need_yield);
#endif
if (headroom >= PIOS_USB_BOARD_HID_DATA_LENGTH) {
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
#else
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
#endif
if (headroom >= max_payload_length) {
/* We have room for a maximum length message */
SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID);
} else {

4
flight/PiOS/inc/pios_com.h
View File

@ -31,6 +31,9 @@
#ifndef PIOS_COM_H
#define PIOS_COM_H
#include <stdint.h> /* uint*_t */
#include <stdbool.h> /* bool */
typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
struct pios_com_driver {
@ -43,7 +46,6 @@ struct pios_com_driver {
};
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);

45
flight/PiOS/inc/pios_com_msg.h Normal file
View File

@ -0,0 +1,45 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM MSG layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com_msg.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief COM MSG layer 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 PIOS_COM_MSG_H
#define PIOS_COM_MSG_H
#include <stdint.h> /* uint*_t */
/* Public Functions */
extern int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len);
extern uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * buf, uint16_t buf_len);
#endif /* PIOS_COM_MSG_H */
/**
* @}
* @}
*/

44
flight/PiOS/inc/pios_com_msg_priv.h Normal file
View File

@ -0,0 +1,44 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM MSG layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com_msg_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief COM MSG private definitions.
* @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 PIOS_COM_MSG_PRIV_H
#define PIOS_COM_MSG_PRIV_H
#include <stdint.h> /* uint*_t */
#include "pios_com_priv.h" /* struct pios_com_driver */
extern int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id);
#endif /* PIOS_COM_MSG_PRIV_H */
/**
* @}
* @}
*/

2
flight/PiOS/inc/pios_com_priv.h
View File

@ -31,6 +31,8 @@
#ifndef PIOS_COM_PRIV_H
#define PIOS_COM_PRIV_H
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
#endif /* PIOS_COM_PRIV_H */
/**