Add simple loop for updating the serial link

pull/482/head
Fred Sundvik 9 years ago
parent 17a1102a2a
commit 9cb139adc4

@ -22,19 +22,83 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE. SOFTWARE.
*/ */
#include "serial_link/system/system.h" #include "serial_link/system/system.h"
#include "hal.h"
#include "serial_link/protocol/byte_stuffer.h"
#include "serial_link/protocol/transport.h"
#include "serial_link/protocol/frame_router.h"
#include <stdbool.h>
static event_source_t new_data_event;
// Slow speed for testing
static SerialConfig config = {
.sc_speed = 38400
};
static uint32_t read_from_serial(SerialDriver* driver) {
const uint32_t buffer_size = 16;
uint8_t buffer[buffer_size];
uint32_t bytes_read = sdAsynchronousRead(driver, buffer, buffer_size);
uint8_t* current = buffer;
uint8_t* end = current + bytes_read;
while(current < end) {
byte_stuffer_recv_byte(0, *current);
current++;
}
return bytes_read;
}
// TODO: Optimize the stack size, this is probably way too big // TODO: Optimize the stack size, this is probably way too big
static THD_WORKING_AREA(serialThreadStack, 1024); static THD_WORKING_AREA(serialThreadStack, 1024);
static THD_FUNCTION(serialThread, arg) { static THD_FUNCTION(serialThread, arg) {
(void)arg; (void)arg;
event_listener_t new_data_listener;
event_listener_t sd1_listener;
event_listener_t sd2_listener;
chEvtRegister(&new_data_event, &new_data_listener, 0);
chEvtRegisterMaskWithFlags(chnGetEventSource(&SD1),
&sd1_listener,
EVENT_MASK(1),
CHN_INPUT_AVAILABLE);
chEvtRegisterMaskWithFlags(chnGetEventSource(&SD2),
&sd2_listener,
EVENT_MASK(2),
CHN_INPUT_AVAILABLE);
bool need_wait = false;
while(true) {
if (need_wait) {
chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(1000));
}
bool is_master = usbGetDriverStateI(&USBD1) == USB_ACTIVE;
router_set_master(is_master);
need_wait = true;
need_wait &= read_from_serial(&SD1) == 0;
need_wait &= read_from_serial(&SD2) == 0;
update_transport();
}
}
void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
if (link == 0) {
sdWrite(&SD1, data, size);
}
else {
sdWrite(&SD2, data, size);
}
} }
void init_serial_link(void) { void init_serial_link(void) {
init_byte_stuffer();
sdStart(&SD1, &config);
sdStart(&SD2, &config);
chEvtObjectInit(&new_data_event);
(void)chThdCreateStatic(serialThreadStack, sizeof(serialThreadStack), (void)chThdCreateStatic(serialThreadStack, sizeof(serialThreadStack),
LOWPRIO, serialThread, NULL); LOWPRIO, serialThread, NULL);
} }
void signal_data_written(void) { void signal_data_written(void) {
chEvtBroadcast(&new_data_event);
} }

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