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changes needed to get teensy FW running with Maestro connected #2

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0 .../firmware/shared/src/peripheral_manager.c → ...irmware/shared/src/peripheral_manager.cpp
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6 changes: 2 additions & 4 deletions saint_os/firmware/teensy41/src/fas100_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,9 @@

#include <Arduino.h>

extern "C" {
#include "fas100_driver.h"
#include "peripheral_driver.h"
#include "flash_types.h"
}

// =============================================================================
// Configuration
Expand Down Expand Up @@ -51,11 +49,11 @@ static uint8_t rx_pos = 0;
static void send_poll(void)
{
#ifndef SIMULATION
uint8_t frame[SPORT_POLL_FRAME_SIZE] = {
uint8_t frame[FAS100_POLL_FRAME_SIZE] = {
SPORT_POLL_HEADER,
SPORT_FAS100_PHYSICAL_ID
};
FAS100_SERIAL.write(frame, SPORT_POLL_FRAME_SIZE);
FAS100_SERIAL.write(frame, FAS100_POLL_FRAME_SIZE);
#endif
}

Expand Down
21 changes: 16 additions & 5 deletions saint_os/firmware/teensy41/src/maestro_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,9 @@
#include <USBHost_t36.h>
#endif

extern "C" {
#include "flash_types.h"
#include "maestro_driver.h"
#include "peripheral_driver.h"
}

// =============================================================================
// USB Host Objects (hardware only)
Expand All @@ -23,7 +22,7 @@ extern "C" {
#ifndef SIMULATION
static USBHost myusb;
static USBHub hub1(myusb);
static USBSerial_BigBuffer maestroSerial(myusb);
static USBSerial_BigBuffer maestroSerial(myusb, 1);
#endif

// =============================================================================
Expand Down Expand Up @@ -112,6 +111,17 @@ void maestro_init(void)
maestro_initialized = true;
}

void PrintDeviceListChanges() {
Serial.printf("*** Device %s %x:%x - connected ***\n", "Maestro", maestroSerial.idVendor(), maestroSerial.idProduct());

const uint8_t *psz = maestroSerial.manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = maestroSerial.product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = maestroSerial.serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
}

void maestro_update(void)
{
if (!maestro_initialized) return;
Expand All @@ -125,10 +135,11 @@ void maestro_update(void)
last_connect_check = now;

bool was_connected = maestro_connected;
maestro_connected = (bool)maestroSerial;

maestro_connected = maestroSerial;
if (maestro_connected && !was_connected) {
Serial.printf("Maestro: device connected\n");
PrintDeviceListChanges();
// Clear any pending errors
maestro_get_errors();
} else if (!maestro_connected && was_connected) {
Expand Down
5 changes: 3 additions & 2 deletions saint_os/firmware/teensy41/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,11 +89,11 @@ static rcl_timer_t state_timer;

// Message buffers
static std_msgs__msg__String announcement_msg;
static char announcement_buffer[256];
static char announcement_buffer[512];

// NOTE: Current Msg is over 4K in size
static std_msgs__msg__String capabilities_msg;
static char capabilities_buffer[8 *1024];
static char capabilities_buffer[10 *1024];

static std_msgs__msg__String config_msg;
static char config_buffer[2048];
Expand Down Expand Up @@ -387,6 +387,7 @@ static void announce_timer_callback(rcl_timer_t* timer, int64_t last_call_time)
snprintf(announcement_buffer + ann_len,
sizeof(announcement_buffer) - ann_len, "}}");
ann_len = strlen(announcement_buffer);
//Serial.printf("Announcement: %s, len=%d\n", announcement_buffer, ann_len);

announcement_msg.data.data = announcement_buffer;
announcement_msg.data.size = strlen(announcement_buffer);
Expand Down
18 changes: 15 additions & 3 deletions saint_os/firmware/teensy41/src/pin_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -389,12 +389,20 @@ int pin_config_capabilities_to_json(char* buffer, size_t buffer_size, const char
// Write comma separator
ret = snprintf(buffer + written, buffer_size - written,
"%s", first_pin ? "" : ",");
if (ret < 0 || (size_t)ret >= buffer_size - written) return -1;
if (ret < 0 || (size_t)ret >= buffer_size - written)
{
Serial.printf("Pin config: snprintf failed for comma separator, ret=%d\n", ret);
return -1;
}
written += ret;

int frag = drv->capabilities_to_json(ch, buffer + written,
buffer_size - written);
if (frag < 0) return -1;
if (frag < 0)
{
Serial.printf("Pin config: driver capabilities_to_json failed for channel %d\n", ch);
return -1;
}
written += frag;
} else {
// Generic virtual pin entry
Expand All @@ -405,7 +413,11 @@ int pin_config_capabilities_to_json(char* buffer, size_t buffer_size, const char
ret = snprintf(buffer + written, buffer_size - written,
"%s{\"gpio\":%d,\"name\":\"%s\",\"capabilities\":[\"%s\"]}",
first_pin ? "" : ",", gpio, pin_name, drv->mode_string);
if (ret < 0 || (size_t)ret >= buffer_size - written) return -1;
if (ret < 0 || (size_t)ret >= buffer_size - written)
{
Serial.printf("Pin config: snprintf failed for virtual pin JSON, ret=%d\n", ret);
return -1;
}
written += ret;
}
first_pin = false;
Expand Down