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Code Issues Releases Activity

com-bridge: Make com-bridge an optional (and configurable) module

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This commit is contained in:
Stacey Sheldon 2011-12-28 12:24:32 -05:00
parent 5b3227d1ff
commit ab135aa00b
3 changed files with 69 additions and 10 deletions
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70
flight/Modules/ComUsbBridge/ComUsbBridge.c
View File

@ -31,6 +31,7 @@
// ****************
#include "openpilot.h"
#include "hwsettings.h"
#include <stdbool.h>
@ -39,6 +40,7 @@
static void com2UsbBridgeTask(void *parameters);
static void usb2ComBridgeTask(void *parameters);
static void updateSettings();
// ****************
// Private constants
@ -60,6 +62,8 @@ static uint8_t * usb2com_buf;
static uint32_t usart_port;
static uint32_t vcp_port;
static bool bridge_enabled = false;
/**
* Initialise the module
* \return -1 if initialisation failed
@ -68,13 +72,16 @@ static uint32_t vcp_port;
static int32_t comUsbBridgeStart(void)
{
if (usart_port && vcp_port) {
if (bridge_enabled) {
// Start tasks
xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
return 0;
}
return 0;
return -1;
}
/**
* Initialise the module
@ -87,10 +94,25 @@ static int32_t comUsbBridgeInitialize(void)
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);
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (usart_port && vcp_port &&
(optionalModules[HWSETTINGS_OPTIONALMODULES_COMUSBBRIDGE] == HWSETTINGS_OPTIONALMODULES_ENABLED))
bridge_enabled = true;
else
bridge_enabled = false;
if (bridge_enabled) {
com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(com2usb_buf);
usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(usb2com_buf);
updateSettings();
}
return 0;
}
@ -135,3 +157,39 @@ static void usb2ComBridgeTask(void * parameters)
}
}
}
static void updateSettings()
{
if (usart_port) {
// Retrieve settings
uint8_t speed;
HwSettingsComUsbBridgeSpeedGet(&speed);
// Set port speed
switch (speed) {
case HWSETTINGS_COMUSBBRIDGESPEED_2400:
PIOS_COM_ChangeBaud(usart_port, 2400);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_4800:
PIOS_COM_ChangeBaud(usart_port, 4800);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_9600:
PIOS_COM_ChangeBaud(usart_port, 9600);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_19200:
PIOS_COM_ChangeBaud(usart_port, 19200);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_38400:
PIOS_COM_ChangeBaud(usart_port, 38400);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_57600:
PIOS_COM_ChangeBaud(usart_port, 57600);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_115200:
PIOS_COM_ChangeBaud(usart_port, 115200);
break;
}
}
}

3
shared/uavobjectdefinition/hwsettings.xml
View File

@ -11,9 +11,10 @@
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="USB_TelemetryChannel" units="function" type="enum" elements="1" options="HID,CDC" defaultvalue="HID"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>

6
shared/uavobjectdefinition/taskinfo.xml
View File

@ -1,9 +1,9 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>