com-bridge: add usart to usb vcp bridge

flight/CopterControl/Makefile

@@ -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
 

flight/CopterControl/System/pios_board.c

@@ -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();

flight/Modules/ComUsbBridge/ComUsbBridge.c

@@ -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);
+		}
+	}
+}

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -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)
 

shared/uavobjectdefinition/hwsettings.xml

@@ -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_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" 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"/>