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authorFred Sundvik <fsundvik@gmail.com>2016-02-27 22:28:35 +0200
committerFred Sundvik <fsundvik@gmail.com>2016-02-27 22:28:35 +0200
commit9cb139adc4e08ff393b1cb8bf16203d670996e71 (patch)
tree8a67489dfa7c79acfd682528382cc775fca8e641
parent17a1102a2a73e619d1a2573764fdfbb0dec9c9a9 (diff)
Add simple loop for updating the serial link
-rw-r--r--serial_link/system/system.c66
1 files changed, 65 insertions, 1 deletions
diff --git a/serial_link/system/system.c b/serial_link/system/system.c
index 2001f4d5cc..2dbd9a4c15 100644
--- a/serial_link/system/system.c
+++ b/serial_link/system/system.c
@@ -22,19 +22,83 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#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
static THD_WORKING_AREA(serialThreadStack, 1024);
static THD_FUNCTION(serialThread, 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) {
+ init_byte_stuffer();
+ sdStart(&SD1, &config);
+ sdStart(&SD2, &config);
+ chEvtObjectInit(&new_data_event);
(void)chThdCreateStatic(serialThreadStack, sizeof(serialThreadStack),
LOWPRIO, serialThread, NULL);
}
void signal_data_written(void) {
-
+ chEvtBroadcast(&new_data_event);
}