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Code Issues Releases Activity

PiOS/USB_HID: When using FreeRTOS use a sempahore to stop multiple tasks

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pushing data to the transmit buffer

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2278 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-24 17:15:59 +00:00 committed by peabody124
parent 4ee9cf7aad
commit ba8351f60a
1 changed files with 23 additions and 0 deletions
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23
flight/PiOS/STM32F10x/pios_usb_hid.c
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@ -40,6 +40,10 @@
#if defined(PIOS_INCLUDE_USB_HID)
#if defined(PIOS_INCLUDE_FREERTOS)
#define USE_FREERTOS
#endif
const struct pios_com_driver pios_usb_com_driver = {
.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
.tx = PIOS_USB_HID_TxBufferPutMore,
@ -60,6 +64,11 @@ t_fifo_buffer rx_pios_fifo_buffer;
uint8_t tx_pios_fifo_buf[1024] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
t_fifo_buffer tx_pios_fifo_buffer;
#if defined(USE_FREERTOS)
xSemaphoreHandle pios_usb_tx_semaphore;
#endif
/**
* Initialises USB COM layer
* \param[in] mode currently only mode 0 supported
@ -79,6 +88,11 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
PIOS_USB_HID_Reenumerate();
/* Create semaphore before enabling interrupts */
#if defined(USE_FREERTOS)
vSemaphoreCreateBinary(pios_usb_tx_semaphore);
#endif
/* Enable the USB Interrupts */
/* 2 bit for pre-emption priority, 2 bits for subpriority */
NVIC_InitTypeDef NVIC_InitStructure;
@ -238,8 +252,17 @@ int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buff
/* don't check returned bytes because it should always succeed */
/* after previous thread and no meaningful way to deal with the */
/* case it only buffers half the bytes */
#if defined(USE_FREERTOS)
if(!xSemaphoreTake(pios_usb_tx_semaphore,10 / portTICK_RATE_MS))
return -3;
#endif
ret = fifoBuf_putData(&tx_pios_fifo_buffer, buffer, len);
#if defined(USE_FREERTOS)
xSemaphoreGive(pios_usb_tx_semaphore);
#endif
sendChunk();
return 0;