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Code Issues Releases Activity

com-bridge: add usart to usb vcp bridge

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This commit is contained in:
Stacey Sheldon 2011-12-21 21:04:29 -05:00
parent 504cf3417f
commit 64f498e48a
5 changed files with 237 additions and 56 deletions
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2
flight/CopterControl/Makefile
View File

@ -70,7 +70,7 @@ ifeq ($(USE_GPS), YES)
OPTMODULES += GPS
endif
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP ComUsbBridge
# Telemetry must be last to grab the optional modules (why?)
MODULES += Telemetry

146
flight/CopterControl/System/pios_board.c
View File

@ -788,6 +788,9 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 65
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_RTC)
@ -1020,7 +1023,9 @@ const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = {
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_vcp_id = 0;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id = 0;
/**
* PIOS_Board_Init()
@ -1065,6 +1070,58 @@ void PIOS_Board_Init(void) {
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
/* Configure the usb telemetry protocol */
uint8_t hwsettings_usb_telemetry_channel;
HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel);
switch (hwsettings_usb_telemetry_channel) {
case HWSETTINGS_USB_TELEMETRYCHANNEL_HID:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_com_id;
if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_com_id;
if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
default:
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID */
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
@ -1179,6 +1236,40 @@ void PIOS_Board_Init(void) {
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
break;
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
{
uint32_t pios_usb_vcp_id;
if (PIOS_USB_COM_Init(&pios_usb_vcp_id, &pios_usb_com_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_vcp_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
}
/* Configure the flexi port */
@ -1278,6 +1369,8 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
break;
}
/* Configure the rcvr port */
@ -1349,59 +1442,6 @@ void PIOS_Board_Init(void) {
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
/* Configure the usb telemetry protocol */
uint8_t hwsettings_usb_telemetry_channel;
HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel);
switch (hwsettings_usb_telemetry_channel) {
case HWSETTINGS_USB_TELEMETRYCHANNEL_HID:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_com_id;
if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_com_id;
if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
default:
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID */
PIOS_IAP_Init();
#ifndef ERASE_FLASH
PIOS_WDG_Init();

135
flight/Modules/ComUsbBridge/ComUsbBridge.c Normal file
View File

@ -0,0 +1,135 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ComUsbBridgeModule Com Port to USB VCP Bridge Module
* @brief Bridge Com and USB VCP ports
* @{
*
* @file ComUsbBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Bridges selected Com Port to the USB VCP emulated serial port
* @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
*/
// ****************
#include "openpilot.h"
#include <stdbool.h>
// ****************
// Private functions
static void com2UsbBridgeTask(void *parameters);
static void usb2ComBridgeTask(void *parameters);
// ****************
// Private constants
#define STACK_SIZE_BYTES 280
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BRIDGE_BUF_LEN 10
// ****************
// Private variables
static xTaskHandle com2UsbBridgeTaskHandle;
static xTaskHandle usb2ComBridgeTaskHandle;
static uint8_t * com2usb_buf;
static uint8_t * usb2com_buf;
static uint32_t usart_port;
static uint32_t vcp_port;
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t comUsbBridgeStart(void)
{
if (usart_port && vcp_port) {
// Start tasks
xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
}
return 0;
}
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t comUsbBridgeInitialize(void)
{
// TODO: Get from settings object
usart_port = PIOS_COM_BRIDGE;
vcp_port = PIOS_COM_VCP;
com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(com2usb_buf);
usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(usb2com_buf);
return 0;
}
MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart)
/**
* Main task. It does not return.
*/
static void com2UsbBridgeTask(void *parameters)
{
/* Handle usart -> vcp direction */
while (1) {
uint32_t rx_bytes;
rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
if (rx_bytes > 0) {
if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes)) {
vTaskDelay(10 / portTICK_RATE_MS);
}
} else {
vTaskDelay(10 / portTICK_RATE_MS);
}
}
}
static void usb2ComBridgeTask(void * parameters)
{
/* Handle vcp -> usart direction */
while (1) {
uint32_t rx_bytes;
rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
if (rx_bytes > 0) {
if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes)) {
vTaskDelay(10 / portTICK_RATE_MS);
}
} else {
vTaskDelay(10 / portTICK_RATE_MS);
}
}
}

6
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -141,6 +141,12 @@ extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#endif /* PIOS_INCLUDE_GPS */
extern uint32_t pios_com_bridge_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
extern uint32_t pios_com_vcp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)

4
shared/uavobjectdefinition/hwsettings.xml
View File

@ -2,8 +2,8 @@
<object name="HwSettings" singleinstance="true" settings="true">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>
<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,DSM2,DSMX (10bit),DSMX (11bit),Debug" defaultvalue="PWM"/>
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>