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Flight/USB_HID: Make the userspace command wait until not in interrupt before
running and block the interrupts while modifying the buffers git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
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488ae158c8
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@ -63,6 +63,8 @@ cBuffer rxBuffer;
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cBuffer txBuffer;
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static uint8_t rxBufferSpace[TX_BUFFER_SIZE];
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static uint8_t txBufferSpace[RX_BUFFER_SIZE];
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volatile uint8_t in_irq = 0;
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/**
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* Initialises USB COM layer
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* \param[in] mode currently only mode 0 supported
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@ -231,12 +233,20 @@ int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buff
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/*if( len > PIOS_USB_HID_DATA_LENGTH )
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return - 1; */
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uint16_t ret;
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uint8_t previous_data = bufferBufferedData(&txBuffer);
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if (len > bufferRemainingSpace(&txBuffer))
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return -1; /* Cannot send all requested bytes */
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if (bufferAddChunkToEnd(&txBuffer, buffer, len) == 0)
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while(in_irq);
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PIOS_IRQ_Disable();
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if(!in_irq)
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ret = bufferAddChunkToEnd(&txBuffer, buffer, len);
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else
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ret = 0;
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PIOS_IRQ_Enable();
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if (ret == 0)
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return -1;
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/* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */
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@ -261,7 +271,16 @@ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_
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if ((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(id, buffer, len)) != 0)
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return error;
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while (bufferBufferedData(&txBuffer)) {
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error = 1;
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while (error) {
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while(in_irq);
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PIOS_IRQ_Disable();
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if(!in_irq)
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error = bufferBufferedData(&txBuffer);
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else
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error = 1;
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PIOS_IRQ_Enable();
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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@ -278,7 +297,16 @@ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_
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*/
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int32_t PIOS_USB_HID_RxBufferGet(uint8_t id)
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{
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uint8_t read = bufferGetFromFront(&rxBuffer);
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uint8_t read;
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while(in_irq);
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PIOS_IRQ_Disable();
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if(!in_irq)
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read = bufferGetFromFront(&rxBuffer);
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else
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read = -1;
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PIOS_IRQ_Enable();
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// If endpoint was stalled and there is now space make it valid
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if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (bufferRemainingSpace(&rxBuffer) > 62)) {
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SetEPRxStatus(ENDP1, EP_RX_VALID);
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@ -303,14 +331,18 @@ int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id)
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*/
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void PIOS_USB_HID_EP1_IN_Callback(void)
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{
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in_irq = 1;
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sendChunk();
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in_irq = 0;
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}
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int hid_rec = 0;
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/**
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* EP1 OUT Callback Routine
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*/
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void PIOS_USB_HID_EP1_OUT_Callback(void)
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{
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in_irq = 1;
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uint32_t DataLength = 0;
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/* Read received data (63 bytes) */
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@ -324,6 +356,7 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
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#ifdef USB_HID
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bufferAddChunkToEnd(&rxBuffer, &rx_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
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#else
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hid_rec += rx_buffer[1];
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bufferAddChunkToEnd(&rxBuffer, &rx_buffer[2], rx_buffer[1]);
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#endif
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@ -333,6 +366,7 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
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} else {
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SetEPRxStatus(ENDP1, EP_RX_NAK);
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}
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in_irq = 0;
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}
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#endif
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