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https://bitbucket.org/librepilot/librepilot.git
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136 lines
3.6 KiB
C
136 lines
3.6 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ComUsbBridgeModule Com Port to USB VCP Bridge Module
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* @brief Bridge Com and USB VCP ports
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* @{
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*
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* @file ComUsbBridge.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Bridges selected Com Port to the USB VCP emulated serial port
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// ****************
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#include "openpilot.h"
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#include <stdbool.h>
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// ****************
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// Private functions
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static void com2UsbBridgeTask(void *parameters);
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static void usb2ComBridgeTask(void *parameters);
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// ****************
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// Private constants
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#define STACK_SIZE_BYTES 280
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define BRIDGE_BUF_LEN 10
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// ****************
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// Private variables
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static xTaskHandle com2UsbBridgeTaskHandle;
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static xTaskHandle usb2ComBridgeTaskHandle;
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static uint8_t * com2usb_buf;
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static uint8_t * usb2com_buf;
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static uint32_t usart_port;
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static uint32_t vcp_port;
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/**
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* Initialise the module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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static int32_t comUsbBridgeStart(void)
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{
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if (usart_port && vcp_port) {
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// Start tasks
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xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
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xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
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}
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return 0;
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}
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/**
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* Initialise the module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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static int32_t comUsbBridgeInitialize(void)
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{
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// TODO: Get from settings object
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usart_port = PIOS_COM_BRIDGE;
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vcp_port = PIOS_COM_VCP;
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com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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PIOS_Assert(com2usb_buf);
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usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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PIOS_Assert(usb2com_buf);
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return 0;
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}
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MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart)
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/**
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* Main task. It does not return.
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*/
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static void com2UsbBridgeTask(void *parameters)
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{
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/* Handle usart -> vcp direction */
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while (1) {
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uint32_t rx_bytes;
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rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
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if (rx_bytes > 0) {
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if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes)) {
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vTaskDelay(10 / portTICK_RATE_MS);
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}
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} else {
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vTaskDelay(10 / portTICK_RATE_MS);
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}
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}
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}
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static void usb2ComBridgeTask(void * parameters)
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{
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/* Handle vcp -> usart direction */
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while (1) {
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uint32_t rx_bytes;
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rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
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if (rx_bytes > 0) {
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if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes)) {
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vTaskDelay(10 / portTICK_RATE_MS);
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}
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} else {
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vTaskDelay(10 / portTICK_RATE_MS);
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}
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}
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}
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