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Code Issues Releases Activity

A few updates for including PIOS_USB_HID into PIOS_COM.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@187 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-02-12 10:11:17 +00:00 committed by gussy
parent 484ad3ecfa
commit 4eedbd854d
8 changed files with 41 additions and 82 deletions
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32
flight/PiOS/Common/pios_com.c
View File

@ -71,13 +71,13 @@ int32_t PIOS_COM_SendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uin
{ {
/* Branch depending on selected port */ /* Branch depending on selected port */
switch(port) { switch(port) {
case COM_DEBUG_UART: case COM_DEBUG_USART:
return PIOS_USART_TxBufferPutMoreNonBlocking(COM_DEBUG_PORT, buffer, len); return PIOS_USART_TxBufferPutMoreNonBlocking(COM_DEBUG_PORT, buffer, len);
case COM_GPS_UART: case COM_GPS_USART:
return PIOS_USART_TxBufferPutMoreNonBlocking(GPS, buffer, len); return PIOS_USART_TxBufferPutMoreNonBlocking(GPS, buffer, len);
case COM_TELEM_UART: case COM_TELEM_USART:
return PIOS_USART_TxBufferPutMoreNonBlocking(TELEM, buffer, len); return PIOS_USART_TxBufferPutMoreNonBlocking(TELEM, buffer, len);
case COM_AUX_UART: case COM_AUX_USART:
return PIOS_USART_TxBufferPutMoreNonBlocking(AUX, buffer, len); return PIOS_USART_TxBufferPutMoreNonBlocking(AUX, buffer, len);
case COM_USB_HID: case COM_USB_HID:
return PIOS_USB_HID_TxBufferPutMoreNonBlocking(buffer, len); return PIOS_USB_HID_TxBufferPutMoreNonBlocking(buffer, len);
@ -100,13 +100,13 @@ int32_t PIOS_COM_SendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
{ {
/* Branch depending on selected port */ /* Branch depending on selected port */
switch(port) { switch(port) {
case COM_DEBUG_UART: case COM_DEBUG_USART:
return PIOS_USART_TxBufferPutMore(COM_DEBUG_PORT, buffer, len); return PIOS_USART_TxBufferPutMore(COM_DEBUG_PORT, buffer, len);
case COM_GPS_UART: case COM_GPS_USART:
return PIOS_USART_TxBufferPutMore(GPS, buffer, len); return PIOS_USART_TxBufferPutMore(GPS, buffer, len);
case COM_TELEM_UART: case COM_TELEM_USART:
return PIOS_USART_TxBufferPutMore(TELEM, buffer, len); return PIOS_USART_TxBufferPutMore(TELEM, buffer, len);
case COM_AUX_UART: case COM_AUX_USART:
return PIOS_USART_TxBufferPutMore(AUX, buffer, len); return PIOS_USART_TxBufferPutMore(AUX, buffer, len);
case COM_USB_HID: case COM_USB_HID:
return PIOS_USB_HID_TxBufferPutMore(buffer, len); return PIOS_USB_HID_TxBufferPutMore(buffer, len);
@ -240,21 +240,21 @@ int32_t PIOS_COM_ReceiveHandler(void)
/* it would also improve this spagetthi code ;) */ /* it would also improve this spagetthi code ;) */
int32_t status = -1; int32_t status = -1;
switch(intf++) { switch(intf++) {
case COM_DEBUG_UART: case COM_DEBUG_USART:
status = PIOS_USART_RxBufferGet(COM_DEBUG_PORT); status = PIOS_USART_RxBufferGet(COM_DEBUG_PORT);
port = COM_DEBUG_UART; port = COM_DEBUG_USART;
break; break;
case COM_GPS_UART: case COM_GPS_USART:
status = PIOS_USART_RxBufferGet(GPS); status = PIOS_USART_RxBufferGet(GPS);
port = COM_GPS_UART; port = COM_GPS_USART;
break; break;
case COM_TELEM_UART: case COM_TELEM_USART:
status = PIOS_USART_RxBufferGet(TELEM); status = PIOS_USART_RxBufferGet(TELEM);
port = COM_TELEM_UART; port = COM_TELEM_USART;
break; break;
case COM_AUX_UART: case COM_AUX_USART:
status = PIOS_USART_RxBufferGet(AUX); status = PIOS_USART_RxBufferGet(AUX);
port = COM_AUX_UART; port = COM_AUX_USART;
break; break;
case COM_USB_HID: case COM_USB_HID:
status = PIOS_USB_HID_RxBufferGet(); status = PIOS_USB_HID_RxBufferGet();

2
flight/PiOS/Common/printf-stdarg.c
View File

@ -46,7 +46,7 @@ static void printchar(char **str, int c)
++(*str); ++(*str);
} }
else PIOS_COM_SendChar(COM_DEBUG_UART, c); // (void)putchar(c); else PIOS_COM_SendChar(COM_DEBUG_USART, c); // (void)putchar(c);
} }

11
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -60,16 +60,9 @@ void PIOS_SYS_Init(void)
GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Ensure that pull-down is active on USB detach pin */ /* Ensure that pull-up is active on detect pin */
GPIO_InitStructure.GPIO_Pin = 0xffff & ~USB_PULLUP_PIN;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Pin = USB_PULLUP_PIN;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
/* And pull-up for detect pin */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = USB_PULLUP_PIN; GPIO_InitStructure.GPIO_Pin = USB_DETECT_PIN;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure); GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
/* Initialize Basic NVIC */ /* Initialize Basic NVIC */

30
flight/PiOS/STM32F10x/pios_usb.c
View File

@ -278,24 +278,6 @@ int32_t PIOS_USB_Init(uint32_t mode)
/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */ /* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
_SetCNTR(CNTR_FRES | CNTR_PDWN); _SetCNTR(CNTR_FRES | CNTR_PDWN);
#if 0
/* Disabled because it doesn't work, hardware needs to be looked into */
/* Configure USB disconnect pin */
/* first we hold it low for ca. 50 mS to force a re-enumeration */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = USB_PULLUP_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
GPIO_SetBits(USB_ACC_GPIO_PORT, USB_PULLUP_PIN);
PIOS_DELAY_WaitmS(50);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
#endif
/* Using a "dirty" method to force a re-enumeration: */ /* Using a "dirty" method to force a re-enumeration: */
/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */ /* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */ /* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
@ -306,8 +288,6 @@ int32_t PIOS_USB_Init(uint32_t mode)
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(USB_ACC_GPIO_PORT, USB_PULLUP_PIN);
PIOS_DELAY_WaitmS(50); PIOS_DELAY_WaitmS(50);
/* Release power-down, still hold reset */ /* Release power-down, still hold reset */
@ -386,6 +366,16 @@ int32_t PIOS_USB_IsInitialized(void)
return GetEPType(ENDP0) ? 1 : 0; return GetEPType(ENDP0) ? 1 : 0;
} }
/**
* Reads the USB detect pin to determine if a USB cable is connected
* \return 0 if cable not connected
* \return 1 if cable is connected
*/
int32_t PIOS_USB_CableConnected(void)
{
return GPIO_ReadInputDataBit(USB_ACC_GPIO_PORT, USB_DETECT_PIN);
}
/* /*
* Hooks of STM32 USB library * Hooks of STM32 USB library

1
flight/PiOS/inc/pios_board.h
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@ -242,7 +242,6 @@
//------------------------- //-------------------------
#define USB_ACC_GPIO_PORT GPIOC #define USB_ACC_GPIO_PORT GPIOC
#define USB_DETECT_PIN GPIO_Pin_4 #define USB_DETECT_PIN GPIO_Pin_4
#define USB_PULLUP_PIN GPIO_Pin_14
#define PIOS_IRQ_USB_PRIORITY IRQ_PRIO_MID #define PIOS_IRQ_USB_PRIORITY IRQ_PRIO_MID
//------------------------- //-------------------------

8
flight/PiOS/inc/pios_com.h
View File

@ -29,10 +29,10 @@
/* Global Types */ /* Global Types */
typedef enum { typedef enum {
COM_DEBUG_UART = 0, COM_DEBUG_USART = 0,
COM_GPS_UART = 1, COM_GPS_USART = 1,
COM_TELEM_UART = 2, COM_TELEM_USART = 2,
COM_AUX_UART = 3, COM_AUX_USART = 3,
COM_USB_HID = 4 COM_USB_HID = 4
} COMPortTypeDef; } COMPortTypeDef;

1
flight/PiOS/inc/pios_usb.h
View File

@ -71,5 +71,6 @@ extern void (*pEpInt_OUT[7])(void);
/* Public Functions */ /* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode); extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void); extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */ #endif /* PIOS_USB_H */

38
flight/PiOS/pios.c
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@ -44,7 +44,7 @@ static uint8_t sdcard_available;
/* Function Prototypes */ /* Function Prototypes */
static void TaskTick(void *pvParameters); static void TaskTick(void *pvParameters);
static void TaskHIDTest(void *pvParameters); static void TaskTesting(void *pvParameters);
static void TaskServos(void *pvParameters); static void TaskServos(void *pvParameters);
static void TaskHooks(void *pvParameters); static void TaskHooks(void *pvParameters);
static void TaskSDCard(void *pvParameters); static void TaskSDCard(void *pvParameters);
@ -100,8 +100,6 @@ int main()
//PIOS_PWM_Init(); //PIOS_PWM_Init();
PIOS_USB_Init(0);
PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse); PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse);
/* Initialise OpenPilot application */ /* Initialise OpenPilot application */
@ -109,7 +107,7 @@ int main()
/* Create a FreeRTOS task */ /* Create a FreeRTOS task */
xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL); xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 4, NULL); xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL); //xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHooks, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL); xTaskCreate(TaskHooks, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); //xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
@ -125,7 +123,7 @@ int main()
int32_t CONSOLE_Parse(COMPortTypeDef port, char c) int32_t CONSOLE_Parse(COMPortTypeDef port, char c)
{ {
if(port == COM_USB_HID) { if(port == COM_USB_HID) {
PIOS_COM_SendChar(COM_DEBUG_UART, c); PIOS_COM_SendChar(COM_DEBUG_USART, c);
return 0; return 0;
} }
@ -133,7 +131,7 @@ int32_t CONSOLE_Parse(COMPortTypeDef port, char c)
if(c == '\r') { if(c == '\r') {
/* Ignore */ /* Ignore */
} else if(c == '\n') { } else if(c == '\n') {
PIOS_COM_SendFormattedString(COM_DEBUG_UART, "String: %s\n", line_buffer); PIOS_COM_SendFormattedString(COM_DEBUG_USART, "String: %s\n", line_buffer);
line_ix = 0; line_ix = 0;
} else if(line_ix < (STRING_MAX - 1)) { } else if(line_ix < (STRING_MAX - 1)) {
line_buffer[line_ix++] = c; line_buffer[line_ix++] = c;
@ -174,36 +172,14 @@ static void TaskTick(void *pvParameters)
} }
} }
static void TaskHIDTest(void *pvParameters) static void TaskTesting(void *pvParameters)
{ {
portTickType xDelay = 1000 / portTICK_RATE_MS;; portTickType xDelay = 1000 / portTICK_RATE_MS;;
__IO uint8_t Send_Buffer[63];
for(;;) for(;;)
{ {
int32_t state = PIOS_USB_CableConnected();
Send_Buffer[0] = 'H'; PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
Send_Buffer[1] = 'e';
Send_Buffer[2] = 'l';
Send_Buffer[3] = 'l';
Send_Buffer[4] = 'o';
Send_Buffer[5] = ' ';
Send_Buffer[6] = 'W';
Send_Buffer[7] = 'o';
Send_Buffer[8] = 'r';
Send_Buffer[9] = 'l';
Send_Buffer[10] = 'd';
Send_Buffer[11] = '!';
Send_Buffer[12] = 0;
/* Write the data to the pipe */
//UserToPMABufferCopy((uint8_t*) Send_Buffer, GetEPTxAddr(EP1_IN & 0x7F), 64);
//SetEPTxCount(ENDP1, 64);
//SetEPTxValid(ENDP1);
PIOS_COM_SendBufferNonBlocking(COM_USB_HID, Send_Buffer, 63);
vTaskDelay(xDelay); vTaskDelay(xDelay);
} }