ComUsbBridge.c

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/*
 * 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, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

// ****************

#include "openpilot.h"

#include "modulesettings.h"
#include "pios_thread.h"
#include <pios_hal.h>
#include "pios_modules.h"

#include <stdbool.h>

// ****************
// Private functions

static void com2UsbBridgeTask(void *parameters);
static void usb2ComBridgeTask(void *parameters);
static void updateSettings();

// ****************
// Private constants

#if defined(PIOS_COMUSBBRIDGE_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_COMUSBBRIDGE_STACK_SIZE
#else
#define STACK_SIZE_BYTES 480
#endif

#define TASK_PRIORITY                   PIOS_THREAD_PRIO_LOW

#define BRIDGE_BUF_LEN 10

// ****************
// Private variables

static struct pios_thread *com2UsbBridgeTaskHandle;
static struct pios_thread *usb2ComBridgeTaskHandle;

static uint32_t usart_port;
static uint32_t vcp_port;

static bool module_enabled = false;

static int32_t comUsbBridgeStart(void)
{
        if (module_enabled) {
                // Start tasks
                com2UsbBridgeTaskHandle = PIOS_Thread_Create(com2UsbBridgeTask, "Com2UsbBridge", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
                TaskMonitorAdd(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
                usb2ComBridgeTaskHandle = PIOS_Thread_Create(usb2ComBridgeTask, "Usb2ComBridge", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
                TaskMonitorAdd(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
                return 0;
        }

        return -1;
}
static int32_t comUsbBridgeInitialize(void)
{
        // TODO: Get from settings object
        usart_port = PIOS_COM_BRIDGE;
        vcp_port = PIOS_COM_VCP;

        /* Only run the module if we have a VCP port and a selected USART port */
        if (!usart_port || !vcp_port) {
                module_enabled = false;
                return 0;
        }

#ifdef MODULE_ComUsbBridge_BUILTIN
        module_enabled = true;
#else
        module_enabled = PIOS_Modules_IsEnabled(PIOS_MODULE_COMUSBBRIDGE);
#endif

        return 0;
}
MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart)


static void com2UsbBridgeTask(void *parameters)
{
        /* Handle usart -> vcp direction */
        volatile uint32_t tx_errors = 0;
        while (1) {
                uint32_t rx_bytes;

                uint8_t com2usb_buf[BRIDGE_BUF_LEN];

                rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
                if (rx_bytes > 0) {
                        /* Bytes available to transfer */
                        if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes) != rx_bytes) {
                                /* Error on transmit */
                                tx_errors++;
                        }
                }
        }
}

static void usb2ComBridgeTask(void * parameters)
{
        updateSettings();

        /* Handle vcp -> usart direction */
        volatile uint32_t tx_errors = 0;
        while (1) {
                uint32_t rx_bytes;

                uint8_t usb2com_buf[BRIDGE_BUF_LEN];

                rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
                if (rx_bytes > 0) {
                        /* Bytes available to transfer */
                        if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes) != rx_bytes) {
                                /* Error on transmit */
                                tx_errors++;
                        }
                }
        }
}


static void updateSettings()
{
        if (usart_port) {
                // Retrieve settings
                uint8_t speed;
                ModuleSettingsComUsbBridgeSpeedGet(&speed);

                PIOS_HAL_ConfigureSerialSpeed(usart_port, speed);
        }
}