/**
* @brief USB device configured handler.
*
* @param[in] usbp pointer to the @p USBDriver object
*
* @iclass
*/
void sduConfigureHookI(USBDriver *usbp) {
SerialUSBDriver *sdup = usbp->param;
sdup->flags = CHN_NO_ERROR;
chIQResetI(&sdup->iqueue);
chOQResetI(&sdup->oqueue);
chnAddFlagsI(sdup, CHN_CONNECTED);
}
static void queues1_execute(void) {
unsigned i;
size_t n;
/* Initial empty state */
test_assert_lock(1, chIQIsEmptyI(&iq), "not empty");
/* Queue filling */
chSysLock();
for (i = 0; i < TEST_QUEUES_SIZE; i++)
chIQPutI(&iq, 'A' + i);
chSysUnlock();
test_assert_lock(2, chIQIsFullI(&iq), "still has space");
test_assert_lock(3, chIQPutI(&iq, 0) == Q_FULL, "failed to report Q_FULL");
/* Queue emptying */
for (i = 0; i < TEST_QUEUES_SIZE; i++)
test_emit_token(chIQGet(&iq));
test_assert_lock(4, chIQIsEmptyI(&iq), "still full");
test_assert_sequence(5, "ABCD");
/* Queue filling again */
chSysLock();
for (i = 0; i < TEST_QUEUES_SIZE; i++)
chIQPutI(&iq, 'A' + i);
chSysUnlock();
/* Reading the whole thing */
n = chIQReadTimeout(&iq, wa[1], TEST_QUEUES_SIZE * 2, TIME_IMMEDIATE);
test_assert(6, n == TEST_QUEUES_SIZE, "wrong returned size");
test_assert_lock(7, chIQIsEmptyI(&iq), "still full");
/* Queue filling again */
chSysLock();
for (i = 0; i < TEST_QUEUES_SIZE; i++)
chIQPutI(&iq, 'A' + i);
chSysUnlock();
/* Partial reads */
n = chIQReadTimeout(&iq, wa[1], TEST_QUEUES_SIZE / 2, TIME_IMMEDIATE);
test_assert(8, n == TEST_QUEUES_SIZE / 2, "wrong returned size");
n = chIQReadTimeout(&iq, wa[1], TEST_QUEUES_SIZE / 2, TIME_IMMEDIATE);
test_assert(9, n == TEST_QUEUES_SIZE / 2, "wrong returned size");
test_assert_lock(10, chIQIsEmptyI(&iq), "still full");
/* Testing reset */
chSysLock();
chIQPutI(&iq, 0);
chIQResetI(&iq);
chSysUnlock();
test_assert_lock(11, chIQGetFullI(&iq) == 0, "still full");
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread1, NULL);
test_assert_lock(12, chIQGetFullI(&iq) == 0, "not empty");
test_wait_threads();
/* Timeout */
test_assert(13, chIQGetTimeout(&iq, 10) == Q_TIMEOUT, "wrong timeout return");
}
/**
* @brief USB device configured handler.
*
* @param[in] bdup pointer to a @p BulkUSBDriver object
*
* @iclass
*/
void bduConfigureHookI(BulkUSBDriver *bdup) {
USBDriver *usbp = bdup->config->usbp;
chIQResetI(&bdup->iqueue);
chOQResetI(&bdup->oqueue);
chnAddFlagsI(bdup, CHN_CONNECTED);
/* Starts the first OUT transaction immediately.*/
usbPrepareQueuedReceive(usbp, bdup->config->bulk_out, &bdup->iqueue,
usbp->epc[bdup->config->bulk_out]->out_maxsize);
usbStartReceiveI(usbp, bdup->config->bulk_out);
}
/**
* @brief SD2 status change handler.
*
* @param[in] id event id.
*/
static void sd2_handler(eventid_t id) {
eventflags_t flags;
(void) id;
flags = chEvtGetAndClearFlags(&sd2fel);
if ((flags & CHN_CONNECTED)) {
cputs("Init: connection on SD2");
}
if (flags & CHN_DISCONNECTED) {
cputs("Init: disconnection on SD2");
chSysLock();
chIQResetI(&SD2.iqueue);
chSysUnlock();
}
}
/**
* @brief Stops the driver.
* @details Any thread waiting on the driver's queues will be awakened with
* the message @p Q_RESET.
*
* @param[in] sdp pointer to a @p SerialDriver object
*
* @api
*/
void sdStop(SerialDriver *sdp) {
chDbgCheck(sdp != NULL, "sdStop");
chSysLock();
chDbgAssert((sdp->state == SD_STOP) || (sdp->state == SD_READY),
"sdStop(), #1",
"invalid state");
sd_lld_stop(sdp);
sdp->state = SD_STOP;
chOQResetI(&sdp->oqueue);
chIQResetI(&sdp->iqueue);
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief SD2 status change handler.
*
* @param[in] id event id.
*/
static void sd2_handler(eventid_t id) {
ioflags_t flags;
(void)id;
flags = chIOGetAndClearFlags(&SD2);
if ((flags & IO_CONNECTED) && (shelltp2 == NULL)) {
cputs("Init: connection on SD2");
shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO + 10);
}
if (flags & IO_DISCONNECTED) {
cputs("Init: disconnection on SD2");
chSysLock();
chIQResetI(&SD2.iqueue);
chSysUnlock();
}
}
/**
* @brief SD1 status change handler.
*
* @param[in] id event id.
*/
static void sd1_handler(eventid_t id) {
eventflags_t flags;
(void)id;
flags = chEvtGetAndClearFlags(&sd1fel);
if ((flags & CHN_CONNECTED) && (shelltp1 == NULL)) {
cputs("Init: connection on SD1");
shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO + 1);
}
if (flags & CHN_DISCONNECTED) {
cputs("Init: disconnection on SD1");
chSysLock();
chIQResetI(&SD1.iqueue);
chSysUnlock();
}
}
/**
* @brief SD1 status change handler.
*
* @param[in] id event id.
*/
static void sd1_handler(eventid_t id) {
eventflags_t flags;
(void) id;
flags = chEvtGetAndClearFlags(&sd1fel);
if ((flags & CHN_CONNECTED)) {
cputs("Init: connection on SD1");
isSerialOverTcpReady = TRUE;
}
if (flags & CHN_DISCONNECTED) {
cputs("Init: disconnection on SD1");
isSerialOverTcpReady = FALSE;
chSysLock();
chIQResetI(&SD1.iqueue);
chSysUnlock();
}
}
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event)
{
extern SerialUSBDriver SDU2;
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USBD2_DATA_REQUEST_EP, &ep1config);
usbInitEndpointI(usbp, USBD2_INTERRUPT_REQUEST_EP, &ep2config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU2);
chSysUnlockFromISR();
return;
case USB_EVENT_SUSPEND:
if (usbp->state == USB_ACTIVE) {
// USB cable unplugged
chSysLockFromISR();
_usb_reset(usbp);
// Reset queues and unlock waiting threads
chIQResetI(&SDU2.iqueue);
chOQResetI(&SDU2.oqueue);
chSysUnlockFromISR();
}
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
void
vexLcdCheckReceiveMessage( LcdData *lcd )
{
int16_t i;
// any characters
if( sdGetWouldBlock(lcd->sdp) )
return;
// read up to 16 bytes from serial port
for(i=0;i<16;i++)
{
int16_t c;
c = sdGetTimeout( lcd->sdp, TIME_IMMEDIATE);
if( c != Q_TIMEOUT )
lcd->rxbuf[i] = c;
else
break;
}
// 6 chars ?
if( i == 6 )
{
// lcd message ?
if( (lcd->rxbuf[0] == 0xAA) && (lcd->rxbuf[1] == 0x55) && (lcd->rxbuf[2] == 0x16))
// verify checksum
if( !((lcd->rxbuf[4] + lcd->rxbuf[5]) & 0xFF) )
lcd->buttons = lcd->rxbuf[4];
}
// flush anything left
if( !sdGetWouldBlock(lcd->sdp) )
{
chSysLock();
chIQResetI( &(lcd->sdp)->iqueue );
chSysUnlock();
}
}
/**
* @brief Stops the driver.
* @details Any thread waiting on the driver's queues will be awakened with
* the message @p Q_RESET.
*
* @param[in] bdup pointer to a @p BulkUSBDriver object
*
* @api
*/
void bduStop(BulkUSBDriver *bdup) {
USBDriver *usbp = bdup->config->usbp;
chDbgCheck(bdup != NULL, "sdStop");
chSysLock();
chDbgAssert((bdup->state == BDU_STOP) || (bdup->state == BDU_READY),
"bduStop(), #1",
"invalid state");
/* Driver in stopped state.*/
usbp->in_params[bdup->config->bulk_in - 1] = NULL;
usbp->out_params[bdup->config->bulk_out - 1] = NULL;
bdup->state = BDU_STOP;
/* Queues reset in order to signal the driver stop to the application.*/
chnAddFlagsI(bdup, CHN_DISCONNECTED);
chIQResetI(&bdup->iqueue);
chOQResetI(&bdup->oqueue);
chSchRescheduleS();
chSysUnlock();
}
void InQueue::resetI(void) {
chIQResetI(&iq);
}
