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 #include <pios_board_io.h>
  40
  41 // ****************
  42 // Private functions
  43
  44 static void com2UsbBridgeTask(void *parameters);
  45 static void usb2ComBridgeTask(void *parameters);
  46 static void usb2ComBridgeSetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
  47 static void usb2ComBridgeSetBaudRate(uint32_t com_id, uint32_t baud);
  48
  49
  50 // ****************
  51 // Private constants
  52
  53 #define U2C_STACK_SIZE_BYTES 260
  54 #define C2U_STACK_SIZE_BYTES 316
  55
  56 #define TASK_PRIORITY        (tskIDLE_PRIORITY + 1)
  57
  58 #define BRIDGE_BUF_LEN       10
  59
  60 // ****************
  61 // Private variables
  62
  63 static xTaskHandle com2UsbBridgeTaskHandle;
  64 static xTaskHandle usb2ComBridgeTaskHandle;
  65
  66 static uint8_t *com2usb_buf;
  67 static uint8_t *usb2com_buf;
  68
  69 static uint32_t usart_port;
  70 static uint32_t vcp_port;
  71
  72 static bool bridge_enabled = false;
  73
  74 /**
  75  * Initialise the module
  76  * \return -1 if initialisation failed
  77  * \return 0 on success
  78  */
  79
  80 static int32_t comUsbBridgeStart(void)
  81 {
  82     if (bridge_enabled) {
  83         // Start tasks
  84         xTaskCreate(com2UsbBridgeTask, "Com2UsbBridge", C2U_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
  85         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
  86         xTaskCreate(usb2ComBridgeTask, "Usb2ComBridge", U2C_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
  87         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
  88         return 0;
  89     }
  90
  91     return -1;
  92 }
  93 /**
  94  * Initialise the module
  95  * \return -1 if initialisation failed
  96  * \return 0 on success
  97  */
  98 static int32_t comUsbBridgeInitialize(void)
  99 {
 100     // TODO: Get from settings object
 101     usart_port = PIOS_COM_BRIDGE;
 102     vcp_port   = PIOS_COM_VCP;
 103
 104     // Register the call back handler for USB control line changes to simply
 105     // pass these onto any handler registered on the USART
 106     if (vcp_port) {
 107         PIOS_COM_RegisterCtrlLineCallback(vcp_port,
 108                                           usb2ComBridgeSetCtrlLine,
 109                                           usart_port);
 110         PIOS_COM_RegisterBaudRateCallback(vcp_port,
 111                                           usb2ComBridgeSetBaudRate,
 112                                           usart_port);
 113     }
 114
 115 #ifdef MODULE_COMUSBBRIDGE_BUILTIN
 116     bridge_enabled = true;
 117 #else
 118
 119     if (usart_port && vcp_port) {
 120         bridge_enabled = true;
 121     } else {
 122         bridge_enabled = false;
 123     }
 124 #endif
 125
 126     if (bridge_enabled) {
 127         com2usb_buf = pios_malloc(BRIDGE_BUF_LEN);
 128         PIOS_Assert(com2usb_buf);
 129         usb2com_buf = pios_malloc(BRIDGE_BUF_LEN);
 130         PIOS_Assert(usb2com_buf);
 131     }
 132
 133     return 0;
 134 }
 135 MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart);
 136
 137 /**
 138  * Main task. It does not return.
 139  */
 140
 141 static void com2UsbBridgeTask(__attribute__((unused)) void *parameters)
 142 {
 143     /* Handle usart -> vcp direction */
 144     volatile uint32_t tx_errors = 0;
 145
 146     while (1) {
 147         uint32_t rx_bytes;
 148
 149         rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
 150         if (rx_bytes > 0) {
 151             /* Bytes available to transfer */
 152             if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes) != (int32_t)rx_bytes) {
 153                 /* Error on transmit */
 154                 tx_errors++;
 155             }
 156         }
 157     }
 158 }
 159
 160 static void usb2ComBridgeTask(__attribute__((unused)) void *parameters)
 161 {
 162     /* Handle vcp -> usart direction */
 163     volatile uint32_t tx_errors = 0;
 164
 165     while (1) {
 166         uint32_t rx_bytes;
 167
 168         rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
 169         if (rx_bytes > 0) {
 170             /* Bytes available to transfer */
 171             if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes) != (int32_t)rx_bytes) {
 172                 /* Error on transmit */
 173                 tx_errors++;
 174             }
 175         }
 176     }
 177 }
 178
 179 /* This routine is registered with the USB driver and will be called in the
 180  * event of a control line state change. It will then call down to the USART
 181  * driver to drive the required control line state.
 182  */
 183 static void usb2ComBridgeSetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state)
 184 {
 185     PIOS_COM_SetCtrlLine(com_id, mask, state);
 186 }
 187
 188 static void usb2ComBridgeSetBaudRate(uint32_t com_id, uint32_t baud)
 189 {
 190     PIOS_COM_ChangeBaud(com_id, baud);
 191 }