Added ability to enable and disable PiOS modules.

Added PIOS_USB_COM.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/System/inc/pios_config.h

@@ -29,7 +29,25 @@
 #define PIOS_CONFIG_H
 
 
-/* Compile Time Macros */ 
+/* Enable/Disable PiOS Modules */
+//#define PIOS_DONT_USE_ADC
+//#define PIOS_DONT_USE_DELAY
+//#define PIOS_DONT_USE_I2C
+//#define PIOS_DONT_USE_IRQ
+//#define PIOS_DONT_USE_LED
+//#define PIOS_DONT_USE_PWM
+//#define PIOS_DONT_USE_SERVO
+//#define PIOS_DONT_USE_SPI
+//#define PIOS_DONT_USE_SYS
+//#define PIOS_DONT_USE_USART
+#define PIOS_DONT_USE_USB_COM
+//#define PIOS_DONT_USE_USB_HID
+//#define PIOS_DONT_USE_USB
+//#define PIOS_DONT_USE_BMP085
+//#define PIOS_DONT_USE_COM
+//#define PIOS_DONT_USE_SDCARD
+//#define PIOS_DONT_USE_SETTINGS
+
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"

flight/PiOS/Common/pios_bmp085.c

@@ -42,6 +42,8 @@ Example of how to use this module:
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_BMP085)
+
 
 /* Glocal Variables */
 ConversionTypeTypeDef CurrentRead;
@@ -293,3 +295,5 @@ void EXTI15_10_IRQHandler(void)
 		PIOS_IRQ_Enable();
 	}
 }
+
+#endif

flight/PiOS/Common/pios_com.c

@@ -30,6 +30,7 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_COM)
 
 /* Private Function Prototypes */
 
@@ -314,3 +315,5 @@ int32_t PIOS_COM_ReceiveCallbackInit(void *callback_receive)
 	/* No error */
 	return 0;
 }
+
+#endif

flight/PiOS/Common/pios_sdcard.c

@@ -30,6 +30,9 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_SDCARD)
+
+
 /* Global Variables */
 VOLINFO PIOS_SDCARD_VolInfo;
 uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
@@ -989,3 +992,4 @@ int32_t PIOS_SDCARD_FileDelete(char *Filename)
 	return 0;
 }
 
+#endif

flight/PiOS/Common/pios_settings.c

@@ -29,6 +29,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_SETTINGS)
+
 
 /* Private Function Prototypes */
 
@@ -110,3 +112,5 @@ int32_t PIOS_Settings_CheckForFiles(void)
 	/* All files found */
 	return 0;
 }
+
+#endif

flight/PiOS/STM32F10x/pios_adc.c

@@ -30,6 +30,7 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_ADC)
 
 /* Local Variables */
 /* following two arrays are word aligned, so that DMA can transfer two hwords at once */
@@ -259,3 +260,5 @@ void DMA1_Channel1_IRQHandler(void)
 	/* Request next conversion */
 	ADC_SoftwareStartConvCmd(ADC1, ENABLE);
 }
+
+#endif

flight/PiOS/STM32F10x/pios_delay.c

@@ -31,6 +31,7 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_DELAY)
 
 /**
 * Initialises the Timer used by PIOS_DELAY functions<BR>
@@ -106,3 +107,5 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
 	/* No error */
 	return 0;
 }
+
+#endif

flight/PiOS/STM32F10x/pios_i2c.c

@@ -30,6 +30,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_I2C)
+
 /* Global Variables */
 volatile uint32_t PIOS_I2C_UnexpectedEvent;
 
@@ -572,3 +574,5 @@ void I2C2_ER_IRQHandler(void)
 {
   ER_IRQHandler((I2CRecTypeDef *)&I2CRec);
 }
+
+#endif

flight/PiOS/STM32F10x/pios_irq.c

@@ -30,6 +30,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_IRQ)
+
 
 /* Private Function Prototypes */
 
@@ -97,3 +99,5 @@ int32_t PIOS_IRQ_Enable(void)
 	/* No error */
 	return 0;
 }
+
+#endif

flight/PiOS/STM32F10x/pios_led.c

@@ -29,6 +29,7 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_LED)
 
 /* Private Function Prototypes */
 
@@ -84,3 +85,5 @@ void PIOS_LED_Toggle(LedTypeDef LED)
 {
 	LED_GPIO_PORT[LED]->ODR ^= LED_GPIO_PIN[LED];
 }
+
+#endif

flight/PiOS/STM32F10x/pios_pwm.c

@@ -29,6 +29,7 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_PWM)
 
 /* Local Variables */
 volatile uint16_t IC3Value = 0;
@@ -116,3 +117,5 @@ void TIM3_IRQHandler(void)
 	}
 #endif
 }
+
+#endif

flight/PiOS/STM32F10x/pios_servo.c

@@ -29,6 +29,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_SERVO)
+
 
 /* Private Function Prototypes */
 
@@ -161,3 +163,4 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
     }
 }
 
+#endif

flight/PiOS/STM32F10x/pios_spi.c

@@ -39,6 +39,8 @@
 
 #include <pios.h>
 
+#if !defined(PIOS_DONT_USE_SPI)
+
 
 /* Local variables */
 static void (*spi_callback[2])(void);
@@ -593,3 +595,4 @@ PIOS_SPI1_DMA_IRQHANDLER_FUNC
 	}
 }
 
+#endif

flight/PiOS/STM32F10x/pios_sys.c

@@ -30,6 +30,9 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_SYS)
+
+
 /* Private Function Prototypes */
 void NVIC_Configuration(void);
 void SysTick_Handler(void);
@@ -138,3 +141,5 @@ void assert_failed(uint8_t* file, uint32_t line)
 	}
 }
 #endif
+
+#endif

flight/PiOS/STM32F10x/pios_usart.c

@@ -30,6 +30,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_USART)
+
 
 /* Global Variables */
 extern SettingsTypeDef Settings;
@@ -580,3 +582,5 @@ AUX_USART_IRQHANDLER_FUNC
 		}
 	}
 }
+
+#endif

flight/PiOS/STM32F10x/pios_usb.c

@@ -28,7 +28,8 @@
 
 /* Project Includes */
 #include "pios.h"
-//#include <string.h>
+
+#if !defined(PIOS_DONT_USE_USB)
 
 
 /* Local definitions */
@@ -576,3 +577,4 @@ static RESULT PIOS_USB_CB_Get_Interface_Setting(uint8_t Interface, uint8_t Alter
 	return USB_SUCCESS;
 }
 
+#endif

flight/PiOS/STM32F10x/pios_usb_com.c

@@ -0,0 +1,502 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_sys.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
+ * @brief      Sets up basic system hardware, functions are called from Main.
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_SYS System Functions
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* Project Includes */
+#include "pios.h"
+#include <usb_lib.h>
+
+#if !defined(PIOS_DONT_USE_USB_COM)
+
+
+/////////////////////////////////////////////////////////////////////////////
+// Local Defines
+/////////////////////////////////////////////////////////////////////////////
+#define SEND_ENCAPSULATED_COMMAND   0x00
+#define GET_ENCAPSULATED_RESPONSE   0x01
+#define SET_COMM_FEATURE            0x02
+#define GET_COMM_FEATURE            0x03
+#define CLEAR_COMM_FEATURE          0x04
+#define SET_LINE_CODING             0x20
+#define GET_LINE_CODING             0x21
+#define SET_CONTROL_LINE_STATE      0x22
+#define SEND_BREAK                  0x23
+
+
+/////////////////////////////////////////////////////////////////////////////
+// Local Types
+/////////////////////////////////////////////////////////////////////////////
+typedef struct
+{
+  u32 bitrate;
+  u8 format;
+  u8 paritytype;
+  u8 datatype;
+} LINE_CODING;
+
+
+/////////////////////////////////////////////////////////////////////////////
+// Local prototypes
+/////////////////////////////////////////////////////////////////////////////
+void PIOS_USB_COM_TxBufferHandler(void);
+void PIOS_USB_COM_RxBufferHandler(void);
+
+
+/////////////////////////////////////////////////////////////////////////////
+// Local Variables
+/////////////////////////////////////////////////////////////////////////////
+// rx/tx status
+static volatile u8 rx_buffer_new_data_ctr;
+static volatile u8 rx_buffer_ix;
+
+static volatile u8 tx_buffer_busy;
+
+// transfer possible?
+static u8 transfer_possible = 0;
+
+// COM Requests
+u8 Request = 0;
+
+// Default linecoding
+LINE_CODING linecoding = {
+  115200, /* baud rate*/
+  0x00,   /* stop bits-1*/
+  0x00,   /* parity - none*/
+  0x08    /* no. of bits 8*/
+};
+
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Initializes USB COM layer
+//! \param[in] mode currently only mode 0 supported
+//! \return < 0 if initialisation failed
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_Init(u32 mode)
+{
+  // currently only mode 0 supported
+  if( mode != 0 )
+    return -1; // unsupported mode
+
+  return 0; // no error
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! This function is called by the USB driver on cable connection/disconnection
+//! \param[in] connected connection status (1 if connected)
+//! \return < 0 on errors
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_ChangeConnectionState(u8 connected)
+{
+  // in all cases: re-initialize USB COM driver
+
+  if( connected ) {
+    transfer_possible = 1;
+    rx_buffer_new_data_ctr = 0;
+    SetEPRxValid(ENDP3);
+    tx_buffer_busy = 0; // buffer not busy anymore
+  } else {
+    // cable disconnected: disable transfers
+    transfer_possible = 0;
+    rx_buffer_new_data_ctr = 0;
+    tx_buffer_busy = 1; // buffer busy
+  }
+
+  return 0; // no error
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! This function returns the connection status of the USB COM interface
+//! \return 1: interface available
+//! \return 0: interface not available
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_CheckAvailable(void)
+{
+  return transfer_possible ? 1 : 0;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Returns number of free bytes in receive buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return number of free bytes
+//! \return 0 if usb_com not available
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_RxBufferFree(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return 0; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return 0;
+  else
+    return PIOS_USB_COM_DATA_OUT_SIZE-rx_buffer_new_data_ctr;
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Returns number of used bytes in receive buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return number of used bytes
+//! \return 0 if usb_com not available
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_RxBufferUsed(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return 0; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return 0;
+  else
+    return rx_buffer_new_data_ctr;
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Gets a byte from the receive buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return -1 if USB_COM not available
+//! \return -2 if no new byte available
+//! \return >= 0: received byte
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_RxBufferGet(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return -1; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return -1; // USB_COM not available
+
+  if( !rx_buffer_new_data_ctr )
+    return -2; // nothing new in buffer
+
+  // get byte - this operation should be atomic!
+  // PIOS_IRQ_Disable();
+
+  // TODO: access buffer directly, so that we don't need to copy into temporary buffer
+  u8 buffer_out[PIOS_USB_COM_DATA_OUT_SIZE];
+  PMAToUserBufferCopy(buffer_out, PIOS_USB_ENDP3_RXADDR, GetEPRxCount(ENDP3));
+  u8 b = buffer_out[rx_buffer_ix++];
+  if( !--rx_buffer_new_data_ctr )
+    SetEPRxValid(ENDP3);
+  // PIOS_IRQ_Enable();
+
+  return b; // return received byte
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Returns the next byte of the receive buffer without taking it
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return -1 if USB_COM not available
+//! \return -2 if no new byte available
+//! \return >= 0: received byte
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_RxBufferPeek(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return -1; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return -1; // USB_COM not available
+
+  if( !rx_buffer_new_data_ctr )
+    return -2; // nothing new in buffer
+
+  // get byte - this operation should be atomic!
+  // PIOS_IRQ_Disable();
+  // TODO: access buffer directly, so that we don't need to copy into temporary buffer
+  u8 buffer_out[PIOS_USB_COM_DATA_OUT_SIZE];
+  PMAToUserBufferCopy(buffer_out, PIOS_USB_ENDP3_RXADDR, GetEPRxCount(ENDP3));
+  u8 b = buffer_out[rx_buffer_ix];
+  // PIOS_IRQ_Enable();
+
+  return b; // return received byte
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! returns number of free bytes in transmit buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return number of free bytes
+//! \return 0 if usb_com not available
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferFree(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return 0; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return 0;
+  else
+    return tx_buffer_busy ? 0 : PIOS_USB_COM_DATA_IN_SIZE;
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Returns number of used bytes in transmit buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \return number of used bytes
+//! \return 0 if usb_com not available
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferUsed(u8 usb_com)
+{
+#if PIOS_USB_COM_NUM == 0
+  return 0; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return 0;
+  else
+    return tx_buffer_busy ? PIOS_USB_COM_DATA_IN_SIZE : 0;
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! puts more than one byte onto the transmit buffer (used for atomic sends)
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \param[in] *buffer pointer to buffer which should be transmitted
+//! \param[in] len number of bytes which should be transmitted
+//! \return 0 if no error
+//! \return -1 if USB_COM not available
+//! \return -2 if buffer full or cannot get all requested bytes (retry)
+//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
+//! \return -4 if too many bytes should be sent
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferPutMoreNonBlocking(u8 usb_com, u8 *buffer, u16 len)
+{
+#if PIOS_USB_COM_NUM == 0
+  return -1; // no USB_COM available
+#else
+
+  if( usb_com >= PIOS_USB_COM_NUM )
+    return -1; // USB_COM not available
+
+  if( len > PIOS_USB_COM_DATA_IN_SIZE )
+    return -4; // cannot get all requested bytes
+
+  if( tx_buffer_busy )
+    return -2; // buffer full (retry)
+
+  // copy bytes to be transmitted into transmit buffer
+  UserToPMABufferCopy(buffer, PIOS_USB_ENDP4_TXADDR, len);
+
+  // send buffer
+  tx_buffer_busy = 1;
+  SetEPTxCount(ENDP4, len);
+  SetEPTxValid(ENDP4);
+
+  return 0; // no error
+#endif
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
+//! (blocking function)
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \param[in] *buffer pointer to buffer which should be transmitted
+//! \param[in] len number of bytes which should be transmitted
+//! \return 0 if no error
+//! \return -1 if USB_COM not available
+//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
+//! \return -4 if too many bytes should be sent
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferPutMore(u8 usb_com, u8 *buffer, u16 len)
+{
+  s32 error;
+
+  while( (error=PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, buffer, len)) == -2 );
+
+  return error;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! puts a byte onto the transmit buffer
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \param[in] b byte which should be put into Tx buffer
+//! \return 0 if no error
+//! \return -1 if USB_COM not available
+//! \return -2 if buffer full (retry)
+//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferPut_NonBlocking(u8 usb_com, u8 b)
+{
+  // for more comfortable usage...
+  // -> just forward to PIOS_USB_COM_TxBufferPutMore
+  return PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, &b, 1);
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! puts a byte onto the transmit buffer<BR>
+//! (blocking function)
+//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
+//! \param[in] b byte which should be put into Tx buffer
+//! \return 0 if no error
+//! \return -1 if USB_COM not available
+//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+s32 PIOS_USB_COM_TxBufferPut(u8 usb_com, u8 b)
+{
+  s32 error;
+
+  while( (error=PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, &b, 1)) == -2 );
+
+  return error;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! Called by STM32 USB driver to check for IN streams
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+void PIOS_USB_COM_EP4_IN_Callback(void)
+{
+  // package has been sent
+  tx_buffer_busy = 0;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+//! Called by STM32 USB driver to check for OUT streams
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+void PIOS_USB_COM_EP3_OUT_Callback(void)
+{
+  // new data has been received - notify this
+  rx_buffer_new_data_ctr = GetEPRxCount(ENDP3);
+  rx_buffer_ix = 0;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////
+//! PIOS_USB callback functions (forwarded from STM32 USB driver)
+//! \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
+/////////////////////////////////////////////////////////////////////////////
+void PIOS_USB_COM_CB_StatusIn(void)
+{
+  if( Request == SET_LINE_CODING ) {
+    // configure UART here...
+    Request = 0;
+  }
+}
+
+
+// handles the data class specific requests
+static u8 *Virtual_Com_Port_GetLineCoding(u16 Length) {
+  if( Length == 0 ) {
+    pInformation->Ctrl_Info.Usb_wLength = sizeof(linecoding);
+    return NULL;
+  }
+
+  return(u8 *)&linecoding;
+}
+
+u8 *Virtual_Com_Port_SetLineCoding(u16 Length)
+{
+  if( Length == 0 ) {
+    pInformation->Ctrl_Info.Usb_wLength = sizeof(linecoding);
+    return NULL;
+  }
+
+  return(u8 *)&linecoding;
+}
+
+s32 PIOS_USB_COM_CB_Data_Setup(u8 RequestNo)
+{
+  u8 *(*CopyRoutine)(u16) = NULL;
+
+  if( RequestNo == GET_LINE_CODING ) {
+    if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
+      CopyRoutine = Virtual_Com_Port_GetLineCoding;
+    }
+  } else if( RequestNo == SET_LINE_CODING ) {
+    if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
+      CopyRoutine = Virtual_Com_Port_SetLineCoding;
+    }
+    Request = SET_LINE_CODING;
+  }
+
+  if( CopyRoutine == NULL ) {
+    return USB_UNSUPPORT;
+  }
+
+  pInformation->Ctrl_Info.CopyData = CopyRoutine;
+  pInformation->Ctrl_Info.Usb_wOffset = 0;
+  (*CopyRoutine)(0);
+
+  return USB_SUCCESS;
+}
+
+s32 PIOS_USB_COM_CB_NoData_Setup(u8 RequestNo)
+{
+  if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
+    if( RequestNo == SET_COMM_FEATURE ) {
+      return USB_SUCCESS;
+    } else if( RequestNo == SET_CONTROL_LINE_STATE ) {
+      return USB_SUCCESS;
+    }
+  }
+
+  return USB_UNSUPPORT;
+}
+
+#endif

flight/PiOS/STM32F10x/pios_usb_hid.c

@@ -31,6 +31,9 @@
 /* Project Includes */
 #include "pios.h"
 
+#if !defined(PIOS_DONT_USE_HID)
+
+
 /* Local types */
 typedef enum _HID_REQUESTS {
 	GET_REPORT = 1,
@@ -339,3 +342,4 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
 #endif
 }
 
+#endif

flight/PiOS/inc/pios_usb_com.h

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_usb_com.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
+ * @brief      USB_COM functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_USB_COM_H
+#define PIOS_USB_COM_H
+
+
+/////////////////////////////////////////////////////////////////////////////
+// Global definitions
+/////////////////////////////////////////////////////////////////////////////
+
+// number of USB_COM interfaces (0..1)
+#ifndef PIOS_USB_COM_NUM
+#define PIOS_USB_COM_NUM 1
+#endif
+
+
+// size of IN/OUT pipe
+#ifndef PIOS_USB_COM_DATA_IN_SIZE
+#define PIOS_USB_COM_DATA_IN_SIZE            64
+#endif
+
+#ifndef PIOS_USB_COM_DATA_OUT_SIZE
+#define PIOS_USB_COM_DATA_OUT_SIZE           64
+#endif
+
+
+#ifndef PIOS_USB_COM_INT_IN_SIZE
+#define PIOS_USB_COM_INT_IN_SIZE             64
+#endif
+
+/* Public Functions */
+extern s32 PIOS_USB_COM_Init(u32 mode);
+extern s32 PIOS_USB_COM_CheckAvailable(void);
+extern s32 PIOS_USB_COM_ChangeConnectionState(u8 connected);
+extern void PIOS_USB_COM_EP4_IN_Callback(void);
+extern void PIOS_USB_COM_EP3_OUT_Callback(void);
+extern void PIOS_USB_COM_CB_StatusIn(void);
+extern s32 PIOS_USB_COM_CB_Data_Setup(u8 RequestNo);
+extern s32 PIOS_USB_COM_CB_NoData_Setup(u8 RequestNo);
+extern s32 PIOS_USB_COM_RxBufferFree(u8 usb_com);
+extern s32 PIOS_USB_COM_RxBufferUsed(u8 usb_com);
+extern s32 PIOS_USB_COM_RxBufferGet(u8 usb_com);
+extern s32 PIOS_USB_COM_TxBufferFree(u8 usb_com);
+extern s32 PIOS_USB_COM_TxBufferUsed(u8 usb_com);
+extern s32 PIOS_USB_COM_TxBufferPut_NonBlocking(u8 usb_com, u8 b);
+extern s32 PIOS_USB_COM_TxBufferPut(u8 usb_com, u8 b);
+extern s32 PIOS_USB_COM_TxBufferPutMore_NonBlocking(u8 usb_com, u8 *buffer, u16 len);
+extern s32 PIOS_USB_COM_TxBufferPutMore(u8 usb_com, u8 *buffer, u16 len);
+
+#endif /* PIOS_USB_COM_H */