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Code Issues Releases Activity

Fixed PipX passthrough when connected via USB HID.

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This commit is contained in:
Brian Webb 2012-06-30 17:12:33 -07:00
parent 3405bc3ebe
commit 499e2ff989
1 changed files with 17 additions and 3 deletions
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20
flight/Modules/RadioComBridge/RadioComBridge.c
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@ -84,6 +84,7 @@ typedef struct {
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
xQueueHandle gcsQueue;
uint16_t wdg;
bool checkHID;
} UAVTalkComTaskParams;
@ -313,6 +314,7 @@ static int32_t RadioComBridgeInitialize(void)
data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
data->uavtalk_params.sendQueue = data->radioPacketQueue;
data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
data->uavtalk_params.gcsQueue = data->gcsEventQueue;
data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
data->uavtalk_params.checkHID = false;
data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
@ -401,6 +403,12 @@ static void UAVTalkRecvTask(void *parameters)
if (state == UAVTALK_STATE_COMPLETE)
{
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
@ -478,7 +486,7 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Otherwise, queue the packet for transmission.
queueEvent(params->sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
}
else
@ -514,11 +522,17 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Queue the packet for transmission.
queueEvent(params->sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
} else if(state == UAVTALK_STATE_ERROR) {
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
data->UAVTalkErrors++;
// Send a NACK if required.
@ -533,7 +547,7 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Transmit the packet anyway...
queueEvent(params->sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
}