mirror of https://github.com/rusefi/bldc.git
116 lines
3.1 KiB
C
116 lines
3.1 KiB
C
/*
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware 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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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "ch.h"
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#include "hal.h"
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#include "comm_usb.h"
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#include "packet.h"
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#include "comm_usb_serial.h"
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#include "commands.h"
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// Settings
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#define PACKET_HANDLER 0
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// Private variables
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#define SERIAL_RX_BUFFER_SIZE 2048
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static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
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static int serial_rx_read_pos = 0;
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static int serial_rx_write_pos = 0;
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static THD_WORKING_AREA(serial_read_thread_wa, 256);
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static THD_WORKING_AREA(serial_process_thread_wa, 4096);
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static mutex_t send_mutex;
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static thread_t *process_tp;
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// Private functions
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static void process_packet(unsigned char *data, unsigned int len);
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static void send_packet_raw(unsigned char *buffer, unsigned int len);
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static THD_FUNCTION(serial_read_thread, arg) {
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(void)arg;
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chRegSetThreadName("USB-Serial read");
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uint8_t buffer[128];
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int had_data = 0;
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for(;;) {
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int len = chSequentialStreamRead(&SDU1, (uint8_t*) buffer, 1);
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for (int i = 0;i < len;i++) {
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serial_rx_buffer[serial_rx_write_pos++] = buffer[i];
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if (serial_rx_write_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_write_pos = 0;
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}
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had_data = 1;
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}
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if (had_data) {
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chEvtSignal(process_tp, (eventmask_t) 1);
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had_data = 0;
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}
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}
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}
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static THD_FUNCTION(serial_process_thread, arg) {
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(void)arg;
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chRegSetThreadName("USB-Serial process");
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process_tp = chThdGetSelfX();
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for(;;) {
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chEvtWaitAny((eventmask_t) 1);
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while (serial_rx_read_pos != serial_rx_write_pos) {
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packet_process_byte(serial_rx_buffer[serial_rx_read_pos++], PACKET_HANDLER);
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if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_read_pos = 0;
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}
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}
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}
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}
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static void process_packet(unsigned char *data, unsigned int len) {
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commands_process_packet(data, len, comm_usb_send_packet);
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}
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static void send_packet_raw(unsigned char *buffer, unsigned int len) {
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chSequentialStreamWrite(&SDU1, buffer, len);
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}
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void comm_usb_init(void) {
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comm_usb_serial_init();
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packet_init(send_packet_raw, process_packet, PACKET_HANDLER);
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chMtxObjectInit(&send_mutex);
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// Threads
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chThdCreateStatic(serial_read_thread_wa, sizeof(serial_read_thread_wa), NORMALPRIO, serial_read_thread, NULL);
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chThdCreateStatic(serial_process_thread_wa, sizeof(serial_process_thread_wa), NORMALPRIO, serial_process_thread, NULL);
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}
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void comm_usb_send_packet(unsigned char *data, unsigned int len) {
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chMtxLock(&send_mutex);
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packet_send_packet(data, len, PACKET_HANDLER);
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chMtxUnlock(&send_mutex);
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}
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