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Code Issues Releases Activity

HID Loopback test now working. GCS code now needs to be brought up to speed.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@583 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-05-04 19:56:06 +00:00 committed by gussy
parent 0aba12fe1f
commit a574f56961
2 changed files with 35 additions and 21 deletions
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27
flight/OpenPilot/System/openpilot.c
View File

@ -48,6 +48,7 @@ uint32_t Cache;
/* Function Prototypes */
static void TaskTick(void *pvParameters);
static void TaskTesting(void *pvParameters);
static void TaskHIDTest(void *pvParameters);
static void TaskServos(void *pvParameters);
static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
@ -115,7 +116,6 @@ void OpenPilotInit()
PIOS_PWM_Init();
PIOS_USB_Init(0);
PIOS_I2C_Init();
PIOS_Servo_SetHz(50, 450);
/* Initialize modules */
TelemetryInitialize();
@ -125,7 +125,8 @@ void OpenPilotInit()
GpsInitialize();
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
}
@ -179,6 +180,28 @@ static void TaskTesting(void *pvParameters)
}
}
static void TaskHIDTest(void *pvParameters)
{
uint8_t byte;
uint8_t line_buffer[64];
uint16_t line_ix;
for(;;)
{
/* HID Loopback Test */
if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
if(byte == '\r' || byte == '\n' || byte == 0) {
PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
line_ix = 0;
} else if(line_ix < (64 - 1)) {
line_buffer[line_ix++] = byte;
line_buffer[line_ix] = 0;
}
}
}
}
static void TaskServos(void *pvParameters)
{
/* For testing servo outputs */

29
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -184,15 +184,13 @@ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t *buffer, uint16_t len)
*/
uint8_t PIOS_USB_HID_RxBufferGet(void)
{
if(!rx_buffer_new_data_ctr) {
if(rx_buffer_new_data_ctr == 0) {
/* Nothing new in buffer */
return -1;
}
/* This stops returning bytes after the first occurrence of '\0' */
/* We don't need to do this but it does optimise things quite a bit */
if(rx_buffer[rx_buffer_ix] == 0) {
/* TODO: Evaluate if this is really needed */
/* Clean the buffer */
for(uint8_t i = 0; i < PIOS_USB_HID_DATA_LENGTH; i++) {
rx_buffer[i] = 0;
@ -200,15 +198,16 @@ uint8_t PIOS_USB_HID_RxBufferGet(void)
rx_buffer_new_data_ctr = 0;
rx_buffer_ix = 0;
//SetEPRxStatus(ENDP1, EP_RX_VALID);
return -1;
}
/* There is still data in the buffer */
uint8_t b = rx_buffer[rx_buffer_ix++];
if(!--rx_buffer_new_data_ctr) {
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "b: %c\r", b);
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "ix: %u\r", rx_buffer_ix);
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "ctr: %u\r\r", rx_buffer_new_data_ctr);
if(--rx_buffer_new_data_ctr == 0) {
rx_buffer_ix = 0;
//SetEPRxStatus(ENDP1, EP_RX_VALID);
}
/* Return received byte */
@ -223,11 +222,7 @@ uint8_t PIOS_USB_HID_RxBufferGet(void)
*/
int32_t PIOS_USB_HID_RxBufferUsed(void)
{
if(!rx_buffer_new_data_ctr) {
return 0;
} else {
return PIOS_USB_HID_DATA_LENGTH;
}
return rx_buffer_new_data_ctr;
}
int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo)
@ -316,12 +311,12 @@ static uint8_t *PIOS_USB_HID_GetProtocolValue(uint16_t Length)
*/
void PIOS_USB_HID_EP1_OUT_Callback(void)
{
#if 0
#if 1
uint32_t DataLength = 0;
/* Read received data (63 bytes) */
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(ENDP1 & 0x7F);
/* Use the memory interface function to write to the selected endpoint */
PMAToUserBufferCopy((uint8_t *) rx_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
@ -329,20 +324,16 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
rx_buffer_new_data_ctr = PIOS_USB_HID_DATA_LENGTH;
#else
// FOR DEBUGGING USE ONLY
uint8_t Receive_Buffer[PIOS_USB_HID_DATA_LENGTH];
uint32_t DataLength = 0;
/* Read received data (63 bytes) */
//USB_SIL_Read(EP1_OUT, Receive_Buffer);
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(ENDP1 & 0x7F);
/* Use the memory interface function to write to the selected endpoint */
PMAToUserBufferCopy((uint8_t *) Receive_Buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
PMAToUserBufferCopy((uint8_t *) rx_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
/* Send it back */
PIOS_COM_SendFormattedStringNonBlocking(COM_USB_HID, "Received: %s", Receive_Buffer);
PIOS_COM_SendFormattedStringNonBlocking(COM_USB_HID, "Received: %s", rx_buffer);
#endif
SetEPRxStatus(ENDP1, EP_RX_VALID);