From 352471857fc2b54693e5be2df529a0f654abc4d1 Mon Sep 17 00:00:00 2001
From: Brian Webb <webbbn@gmail.com>
Date: Sun, 6 May 2012 15:07:07 -0700
Subject: [PATCH] Reverted USB configuration and switched all non-blocking COM
 calls to blocking, which appears to help prevent lockups now that all sends
 are in a different thread.

---
 .../Modules/RadioComBridge/RadioComBridge.c   |  6 ++---
 .../board_hw_defs/pipxtreme/board_hw_defs.c   | 24 ++++++++++++-------
 2 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/flight/Modules/RadioComBridge/RadioComBridge.c b/flight/Modules/RadioComBridge/RadioComBridge.c
index 7d2c387ad..c55685f54 100644
--- a/flight/Modules/RadioComBridge/RadioComBridge.c
+++ b/flight/Modules/RadioComBridge/RadioComBridge.c
@@ -43,8 +43,6 @@
 
 #include <stdbool.h>
 
-//#undef PIOS_INCLUDE_USB
-
 // ****************
 // Private constants
 
@@ -635,7 +633,7 @@ static int32_t transmitData(uint8_t *buf, int32_t length)
  */
 static int32_t transmitPacket(PHPacketHandle p)
 {
-	return PIOS_COM_SendBufferNonBlocking(data->radio_port, (uint8_t*)p, PH_PACKET_SIZE(p));
+	return PIOS_COM_SendBuffer(data->radio_port, (uint8_t*)p, PH_PACKET_SIZE(p));
 }
 
 /**
@@ -653,7 +651,7 @@ static void receiveData(uint8_t *buf, uint8_t len)
 #endif /* PIOS_INCLUDE_USB */
 
 	// Send the received data to the com port
-	if (PIOS_COM_SendBufferNonBlocking(outputPort, buf, len) != len)
+	if (PIOS_COM_SendBuffer(outputPort, buf, len) != len)
 		// Error on transmit
 		data->comTxErrors++;
 }
diff --git a/flight/board_hw_defs/pipxtreme/board_hw_defs.c b/flight/board_hw_defs/pipxtreme/board_hw_defs.c
index de4d817eb..7b5557d49 100644
--- a/flight/board_hw_defs/pipxtreme/board_hw_defs.c
+++ b/flight/board_hw_defs/pipxtreme/board_hw_defs.c
@@ -429,14 +429,22 @@ static const struct pios_tim_clock_cfg tim_4_cfg = {
 #include "pios_usb_priv.h"
 
 static const struct pios_usb_cfg pios_usb_main_cfg = {
-  .irq = {
-    .init    = {
-      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
-      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
-      .NVIC_IRQChannelSubPriority        = 0,
-      .NVIC_IRQChannelCmd                = ENABLE,
-    },
-  },
+	.irq = {
+		.init    = {
+			.NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.vsense = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_8,
+			.GPIO_Speed = GPIO_Speed_10MHz,
+			.GPIO_Mode  = GPIO_Mode_AF_OD,
+		},
+	}
 };
 
 #include "pios_usb_board_data_priv.h"