Working PipX com relay.

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -104,9 +104,8 @@ static int32_t RadioComBridgeInitialize(void)
 		return -1;
 
 	// TODO: Get from settings object
-	//data->com_port = PIOS_COM_VCP;
 	data->com_port = PIOS_COM_TELEM_USB;
-	data->radio_port = PIOS_COM_TELEM_SERIAL;
+	data->radio_port = PIOS_COM_RFM22B_RF;
 
 	data->radio2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
 	PIOS_Assert(data->radio2com_buf);
@@ -150,7 +149,6 @@ static void com2RadioBridgeTask(void * parameters)
 
 		rx_bytes = PIOS_COM_ReceiveBuffer(data->com_port, data->com2radio_buf, BRIDGE_BUF_LEN, 500);
 		if (rx_bytes > 0) {
-			PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Rec com\n\r");
 			/* Bytes available to transfer */
 			if (PIOS_COM_SendBuffer(data->radio_port, data->com2radio_buf, rx_bytes) != rx_bytes) {
 				/* Error on transmit */

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -147,20 +147,19 @@ extern uint32_t pios_i2c_flexi_adapter_id;
 //
 // See also pios_board.c
 //-------------------------
-#define PIOS_COM_MAX_DEVS			4
+#define PIOS_COM_MAX_DEVS			5
 
 extern uint32_t pios_com_telem_usb_id;
 extern uint32_t pios_com_vcp_usb_id;
 extern uint32_t pios_com_usart1_id;
-extern uint32_t pios_com_usart2_id;
 extern uint32_t pios_com_usart3_id;
 extern uint32_t pios_com_rfm22b_id;
 #define PIOS_COM_TELEM_SERIAL           (pios_com_usart1_id)
-#define PIOS_COM_DEBUG                  (pios_com_usart2_id)
 #define PIOS_COM_FLEXI                  (pios_com_usart3_id)
 #define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
 #define PIOS_COM_VCP_USB                (pios_com_vcp_usb_id)
 #define PIOS_COM_RFM22B_RF              (pios_com_rfm22b_id)
+#define PIOS_COM_DEBUG									PIOS_COM_TELEM_SERIAL
 
 //------------------------
 // PIOS_RCVR

flight/PiOS/Common/pios_rfm22b.c

@@ -35,6 +35,8 @@
 
 #include <pios_rfm22b_priv.h>
 
+#define OUTPUT_COM PIOS_COM_FLEXI
+
 /* Provide a COM driver */
 static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
 static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
@@ -139,10 +141,8 @@ static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
 	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
 	PIOS_Assert(valid);
 
-#ifdef NEVER
-	RFM22B_ITConfig(rfm22b_dev->cfg->regs, RFM22B_IT_RXNE, ENABLE);
-#endif
 }
+
 static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
 {
 	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@@ -150,9 +150,18 @@ static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
 	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
 	PIOS_Assert(valid);
 
-#ifdef NEVER
+	bool need_yield = false;
-	RFM22B_ITConfig(rfm22b_dev->cfg->regs, RFM22B_IT_TXE, ENABLE);
+	if (rfm22b_dev->tx_out_cb) {
-#endif
+		uint8_t buf[16];
+		uint16_t bytes_to_send = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, buf, 16, NULL, &need_yield);
+		if(bytes_to_send > 0)
+			PIOS_COM_SendBuffer(OUTPUT_COM, buf, bytes_to_send);
+	}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (need_yield)
+		vPortYieldFromISR();
+#endif	/* PIOS_INCLUDE_FREERTOS */
 }
 
 /**
@@ -167,23 +176,10 @@ static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
 	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
 	PIOS_Assert(valid);
 
-#ifdef NEVER
-	RFM22B_InitTypeDef RFM22B_InitStructure;
-
-	/* Start with a copy of the default configuration for the peripheral */
-	RFM22B_InitStructure = rfm22b_dev->cfg->init;
-
-	/* Adjust the baud rate */
-	RFM22B_InitStructure.RFM22B_BaudRate = baud;
-
-	/* Write back the new configuration */
-	RFM22B_Init(rfm22b_dev->cfg->regs, &RFM22B_InitStructure);
-#endif
 }
 
 static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
 {
-#ifdef NEVER
 	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 
 	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
@@ -195,12 +191,10 @@ static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback
 	 */
 	rfm22b_dev->rx_in_context = context;
 	rfm22b_dev->rx_in_cb = rx_in_cb;
-#endif
 }
 
 static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
 {
-#ifdef NEVER
 	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 
 	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
@@ -212,7 +206,6 @@ static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback
 	 */
 	rfm22b_dev->tx_out_context = context;
 	rfm22b_dev->tx_out_cb = tx_out_cb;
-#endif
 }
 
 static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id) {
@@ -224,13 +217,21 @@ static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id) {
 		return;
 	}
 
+	bool need_yield = false;
+	if (rfm22b_dev->rx_in_cb) {
+		uint8_t buf[16];
+		uint32_t rx_bytes = PIOS_COM_ReceiveBuffer(OUTPUT_COM, buf, 16, 0);
+
+		if (rx_bytes > 0)
+			(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, buf, rx_bytes, NULL, &need_yield);
+	}
+
 	/* 
 	 * RTC runs at 625Hz.
 	 */
 	if(--rfm22b_dev->countdown_timer > 0)
 		return;
 	rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->send_timeout) / 0.625);
-	PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r");
 }
 
 #endif

flight/PipXtreme/System/pios_board.c

@@ -613,7 +613,6 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
 uint32_t pios_com_telem_usb_id;
 uint32_t pios_com_vcp_usb_id;
 uint32_t pios_com_usart1_id;
-uint32_t pios_com_usart2_id;
 uint32_t pios_com_usart3_id;
 uint32_t pios_com_rfm22b_id;
 
@@ -820,24 +819,6 @@ void PIOS_Board_Init(void) {
 		}
 	}
 
-	/* Configure USART2 */
-	{
-		uint32_t pios_usart2_id;
-		if (PIOS_USART_Init(&pios_usart2_id, &pios_usart_usart2_cfg)) {
-			PIOS_Assert(0);
-		}
-
-		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
-		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
-		PIOS_Assert(rx_buffer);
-		PIOS_Assert(tx_buffer);
-		if (PIOS_COM_Init(&pios_com_usart2_id, &pios_usart_com_driver, pios_usart2_id,
-											rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
-			PIOS_Assert(0);
-		}
-	}
-
 	/* Configure USART3 */
 	{
 		uint32_t pios_usart3_id;
@@ -872,10 +853,7 @@ void PIOS_Board_Init(void) {
 		}
 	}
 #endif /* PIOS_INCLUDE_RFM22B */
-	PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r");
+	PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello DEBUG\n\r");
-	PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello Debug\n\r");
-	PIOS_COM_SendString(PIOS_COM_FLEXI, "Hello Flexi\n\r");
-	PIOS_COM_SendString(PIOS_COM_RFM22B_RF, "Hello RMF22B\n\r");
 
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);