flight/modules/ComUsbBridge/ComUsbBridge.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup ComUsbBridgeModule Com Port to USB VCP Bridge Module
   6  * @brief Bridge Com and USB VCP ports
   7  * @{
   8  *
   9  * @file       ComUsbBridge.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
  11  * @brief      Bridges selected Com Port to the USB VCP emulated serial port
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 // ****************
  32
  33 #include <openpilot.h>
  34
  35 #include "taskinfo.h"
  36
  37 #include <stdbool.h>
  38
  39 // ****************
  40 // Private functions
  41
  42 static void com2UsbBridgeTask(void *parameters);
  43 static void usb2ComBridgeTask(void *parameters);
  44 static void usb2ComBridgeSetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
  45 static void usb2ComBridgeSetBaudRate(uint32_t com_id, uint32_t baud);
  46
  47
  48 // ****************
  49 // Private constants
  50
  51 #define U2C_STACK_SIZE_BYTES 260
  52 #define C2U_STACK_SIZE_BYTES 316
  53
  54 #define TASK_PRIORITY        (tskIDLE_PRIORITY + 1)
  55
  56 #define BRIDGE_BUF_LEN       10
  57
  58 // ****************
  59 // Private variables
  60
  61 static xTaskHandle com2UsbBridgeTaskHandle;
  62 static xTaskHandle usb2ComBridgeTaskHandle;
  63
  64 static uint8_t *com2usb_buf;
  65 static uint8_t *usb2com_buf;
  66
  67 static uint32_t usart_port;
  68 static uint32_t vcp_port;
  69
  70 static bool bridge_enabled = false;
  71
  72 /**
  73  * Initialise the module
  74  * \return -1 if initialisation failed
  75  * \return 0 on success
  76  */
  77
  78 static int32_t comUsbBridgeStart(void)
  79 {
  80     if (bridge_enabled) {
  81         // Start tasks
  82         xTaskCreate(com2UsbBridgeTask, "Com2UsbBridge", C2U_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
  83         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
  84         xTaskCreate(usb2ComBridgeTask, "Usb2ComBridge", U2C_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
  85         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
  86         return 0;
  87     }
  88
  89     return -1;
  90 }
  91 /**
  92  * Initialise the module
  93  * \return -1 if initialisation failed
  94  * \return 0 on success
  95  */
  96 static int32_t comUsbBridgeInitialize(void)
  97 {
  98     // TODO: Get from settings object
  99     usart_port = PIOS_COM_BRIDGE;
 100     vcp_port   = PIOS_COM_VCP;
 101
 102     // Register the call back handler for USB control line changes to simply
 103     // pass these onto any handler registered on the USART
 104     if (vcp_port) {
 105         PIOS_COM_RegisterCtrlLineCallback(vcp_port,
 106                                           usb2ComBridgeSetCtrlLine,
 107                                           usart_port);
 108         PIOS_COM_RegisterBaudRateCallback(vcp_port,
 109                                           usb2ComBridgeSetBaudRate,
 110                                           usart_port);
 111     }
 112
 113 #ifdef MODULE_COMUSBBRIDGE_BUILTIN
 114     bridge_enabled = true;
 115 #else
 116
 117     if (usart_port && vcp_port) {
 118         bridge_enabled = true;
 119     } else {
 120         bridge_enabled = false;
 121     }
 122 #endif
 123
 124     if (bridge_enabled) {
 125         com2usb_buf = pios_malloc(BRIDGE_BUF_LEN);
 126         PIOS_Assert(com2usb_buf);
 127         usb2com_buf = pios_malloc(BRIDGE_BUF_LEN);
 128         PIOS_Assert(usb2com_buf);
 129     }
 130
 131     return 0;
 132 }
 133 MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart);
 134
 135 /**
 136  * Main task. It does not return.
 137  */
 138
 139 static void com2UsbBridgeTask(__attribute__((unused)) void *parameters)
 140 {
 141     /* Handle usart -> vcp direction */
 142     volatile uint32_t tx_errors = 0;
 143
 144     while (1) {
 145         uint32_t rx_bytes;
 146
 147         rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
 148         if (rx_bytes > 0) {
 149             /* Bytes available to transfer */
 150             if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes) != (int32_t)rx_bytes) {
 151                 /* Error on transmit */
 152                 tx_errors++;
 153             }
 154         }
 155     }
 156 }
 157
 158 static void usb2ComBridgeTask(__attribute__((unused)) void *parameters)
 159 {
 160     /* Handle vcp -> usart direction */
 161     volatile uint32_t tx_errors = 0;
 162
 163     while (1) {
 164         uint32_t rx_bytes;
 165
 166         rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
 167         if (rx_bytes > 0) {
 168             /* Bytes available to transfer */
 169             if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes) != (int32_t)rx_bytes) {
 170                 /* Error on transmit */
 171                 tx_errors++;
 172             }
 173         }
 174     }
 175 }
 176
 177 /* This routine is registered with the USB driver and will be called in the
 178  * event of a control line state change. It will then call down to the USART
 179  * driver to drive the required control line state.
 180  */
 181 static void usb2ComBridgeSetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state)
 182 {
 183     PIOS_COM_SetCtrlLine(com_id, mask, state);
 184 }
 185
 186 static void usb2ComBridgeSetBaudRate(uint32_t com_id, uint32_t baud)
 187 {
 188     PIOS_COM_ChangeBaud(com_id, baud);
 189 }