rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

Flight/USB_HID: Make the userspace command wait until not in interrupt before

Browse Source 
running and block the interrupts while modifying the buffers

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-24 01:35:30 +00:00 committed by peabody124
parent 488ae158c8
commit acc6df4c2d
1 changed files with 37 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

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