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Code Issues Releases Activity

Fixed processing of UAVTalk packets when in transparent com mode.

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This commit is contained in:
Brian Webb 2012-05-17 18:37:45 -07:00
parent 14bbd09c87
commit 6fbc3339d5
2 changed files with 19 additions and 12 deletions
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2
flight/Libraries/packet_handler.c
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@ -91,7 +91,7 @@ PHInstHandle PHInitialize(PacketHandlerConfig *cfg)
data->lock = xSemaphoreCreateRecursiveMutex(); data->lock = xSemaphoreCreateRecursiveMutex();
// Initialize the ECC library. // Initialize the ECC library.
initialize_ecc(); initialize_ecc();
// Return the structure. // Return the structure.
return (PHInstHandle)data; return (PHInstHandle)data;

29
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -291,7 +291,7 @@ static void comUAVTalkTask(void *parameters)
data->txBytes++; data->txBytes++;
// Get a TX packet from the packet handler if required. // Get a TX packet from the packet handler if required.
if (p == NULL) if ((p == NULL) && !PIOS_COM_TRANS_COM)
{ {
// Wait until we receive a sync. // Wait until we receive a sync.
@ -320,7 +320,8 @@ static void comUAVTalkTask(void *parameters)
} }
// Insert this byte. // Insert this byte.
p->data[p->header.data_size++] = rx_byte; if(p)
p->data[p->header.data_size++] = rx_byte;
// Keep reading until we receive a completed packet. // Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte); UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
@ -390,12 +391,14 @@ static void comUAVTalkTask(void *parameters)
} }
// Release the packet, since we don't need it. // Release the packet, since we don't need it.
PHReleaseTXPacket(pios_packet_handler, p); if(p)
PHReleaseTXPacket(pios_packet_handler, p);
} }
else else
{ {
// Otherwise, queue the packet for transmission. // Otherwise, queue the packet for transmission if we're using UAVTalk comms.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); if(p)
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
} }
} }
else else
@ -425,13 +428,15 @@ static void comUAVTalkTask(void *parameters)
} }
// Release the packet, since we don't need it. // Release the packet, since we don't need it.
PHReleaseTXPacket(pios_packet_handler, p); if(p)
PHReleaseTXPacket(pios_packet_handler, p);
} }
} }
else else
{ {
// Queue the packet for transmission. // Queue the packet for transmission if we're using UAVTalk comms.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); if(p)
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
} }
p = NULL; p = NULL;
@ -449,12 +454,14 @@ static void comUAVTalkTask(void *parameters)
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY); xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
// Release the packet and start over again. // Release the packet and start over again.
PHReleaseTXPacket(pios_packet_handler, p); if(p)
PHReleaseTXPacket(pios_packet_handler, p);
} }
else else
{ {
// Transmit the packet anyway... // Transmit the packet anyway...
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); if(p)
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
} }
p = NULL; p = NULL;
} }
@ -630,7 +637,7 @@ static void transparentCommTask(void * parameters)
// Receive data from the com port // Receive data from the com port
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size, uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
PH_MAX_DATA - p->header.data_size, timeout); PH_MAX_DATA - p->header.data_size, timeout);
// Do we have an data to send? // Do we have an data to send?
p->header.data_size += cur_rx_bytes; p->header.data_size += cur_rx_bytes;