altos: Send serial/flight to companion board

[fw/altos] / src / ao_usb.c

diff --git a/src/ao_usb.c b/src/ao_usb.c
index 2266572541c820b661897b22b3a6530152b71fa9..08cb73900c6462fe52d7d8bfafe1b6a28ff47d90 100644 (file)
--- a/src/ao_usb.c
+++ b/src/ao_usb.c
@@ -21,10 +21,10 @@
 struct ao_task __xdata ao_usb_task;
 
 static __xdata uint16_t        ao_usb_in_bytes;
-static __xdata uint16_t ao_usb_in_bytes_last;
+static __pdata uint16_t ao_usb_in_bytes_last;
 static __xdata uint16_t        ao_usb_out_bytes;
-static __xdata uint8_t ao_usb_iif;
-static __xdata uint8_t ao_usb_running;
+static __pdata uint8_t ao_usb_iif;
+static __pdata uint8_t ao_usb_running;
 
 static void
 ao_usb_set_interrupts(void)
@@ -43,7 +43,7 @@ ao_usb_set_interrupts(void)
  * so when we hook that up, fix this
  */
 void
-ao_usb_isr(void) interrupt 6
+ao_usb_isr(void) __interrupt 6
 {
        USBIF = 0;
        ao_usb_iif |= USBIIF;
@@ -53,10 +53,15 @@ ao_usb_isr(void) interrupt 6
                ao_wakeup(&ao_usb_in_bytes);
 
        if (USBOIF & (1 << AO_USB_OUT_EP))
-               ao_wakeup(&ao_usb_out_bytes);
+               ao_wakeup(&ao_stdin_ready);
 
        if (USBCIF & USBCIF_RSTIF)
                ao_usb_set_interrupts();
+#if HAS_BTM
+#if BT_LINK_ON_P2
+       ao_btm_isr();
+#endif
+#endif
 }
 
 struct ao_usb_setup {
@@ -67,25 +72,26 @@ struct ao_usb_setup {
        uint16_t        length;
 } __xdata ao_usb_setup;
 
-__xdata uint8_t ao_usb_ep0_state;
-uint8_t * __xdata ao_usb_ep0_in_data;
-__xdata uint8_t ao_usb_ep0_in_len;
-__xdata uint8_t        ao_usb_ep0_in_buf[2];
-__xdata uint8_t ao_usb_ep0_out_len;
-__xdata uint8_t *__data ao_usb_ep0_out_data;
-__xdata uint8_t ao_usb_configuration;
+__pdata uint8_t ao_usb_ep0_state;
+uint8_t * __pdata ao_usb_ep0_in_data;
+__pdata uint8_t ao_usb_ep0_in_len;
+__pdata uint8_t        ao_usb_ep0_in_buf[2];
+__pdata uint8_t ao_usb_ep0_out_len;
+__xdata uint8_t *__pdata ao_usb_ep0_out_data;
+__pdata uint8_t ao_usb_configuration;
 
 /* Send an IN data packet */
 static void
 ao_usb_ep0_flush(void)
 {
-       __xdata uint8_t this_len;
-       __xdata uint8_t cs0;
+       __pdata uint8_t this_len;
+       __pdata uint8_t cs0;
 
+       /* If the IN packet hasn't been picked up, just return */
        USBINDEX = 0;
        cs0 = USBCS0;
        if (cs0 & USBCS0_INPKT_RDY)
-               ao_panic(0);
+               return;
 
        this_len = ao_usb_ep0_in_len;
        if (this_len > AO_USB_CONTROL_SIZE)
@@ -109,9 +115,9 @@ __xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 static void
 ao_usb_get_descriptor(uint16_t value)
 {
-       const uint8_t           *__xdata descriptor;
-       __xdata uint8_t         type = value >> 8;
-       __xdata uint8_t         index = value;
+       __code uint8_t          *__pdata descriptor;
+       __pdata uint8_t         type = value >> 8;
+       __pdata uint8_t         index = value;
 
        descriptor = ao_usb_descriptors;
        while (descriptor[0] != 0) {
@@ -132,7 +138,7 @@ ao_usb_get_descriptor(uint16_t value)
 static void
 ao_usb_ep0_fill(void)
 {
-       __xdata uint8_t len;
+       __pdata uint8_t len;
 
        USBINDEX = 0;
        len = USBCNT0;
@@ -276,7 +282,7 @@ ao_usb_ep0_setup(void)
 static void
 ao_usb_ep0(void)
 {
-       __xdata uint8_t cs0;
+       __pdata uint8_t cs0;
 
        ao_usb_ep0_state = AO_USB_EP0_IDLE;
        for (;;) {
@@ -360,7 +366,7 @@ ao_usb_flush(void) __critical
 }
 
 void
-ao_usb_putchar(char c) __critical
+ao_usb_putchar(char c) __critical __reentrant
 {
        if (!ao_usb_running)
                return;
@@ -374,17 +380,19 @@ ao_usb_putchar(char c) __critical
 }
 
 char
-ao_usb_getchar(void) __critical
+ao_usb_pollchar(void) __critical
 {
-       __xdata char    c;
-       while (ao_usb_out_bytes == 0) {
-               for (;;) {
+       char c;
+       if (ao_usb_out_bytes == 0) {
+               USBINDEX = AO_USB_OUT_EP;
+               if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
+                       return AO_READ_AGAIN;
+               ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
+               if (ao_usb_out_bytes == 0) {
                        USBINDEX = AO_USB_OUT_EP;
-                       if ((USBCSOL & USBCSOL_OUTPKT_RDY) != 0)
-                               break;
-                       ao_sleep(&ao_usb_out_bytes);
+                       USBCSOL &= ~USBCSOL_OUTPKT_RDY;
+                       return AO_READ_AGAIN;
                }
-               ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
        }
        --ao_usb_out_bytes;
        c = USBFIFO[AO_USB_OUT_EP << 1];
@@ -395,6 +403,16 @@ ao_usb_getchar(void) __critical
        return c;
 }
 
+char
+ao_usb_getchar(void) __critical
+{
+       char    c;
+
+       while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+               ao_sleep(&ao_stdin_ready);
+       return c;
+}
+
 void
 ao_usb_enable(void)
 {
@@ -438,4 +456,5 @@ ao_usb_init(void)
        ao_usb_enable();
 
        ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
+       ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }