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fix: 🐛 Wait for serial port to be properly configured by VEXos #749

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fix: 🐛 Wait for serial port to be properly configured by VEXos #749

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4614449
fix: :bug: Wait for serial port to be properly configured by VEXos
ion098 Feb 4, 2025
fe92d67
fix: :adhesive_bandage: Remove unnecessary wait when device is not se…
ion098 Mar 27, 2025
629e570
cleanup claim_serial_port_i, call vexBackgroundProcessing when rtos u…
AndrewLuGit Apr 2, 2025
7ed3532
switch loop variable back to uint8_t
AndrewLuGit Apr 2, 2025
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39 changes: 30 additions & 9 deletions src/devices/vdml_serial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,27 @@
#include "vdml/registry.h"
#include "vdml/vdml.h"

v5_device_e_t registry_get_plugged_type(uint8_t port);

#define SERIAL_TIMEOUT 500

/**
* VEXos does not immediately configure a port as generic serial after calling
* vexDeviceGenericSerialEnable. Therefore, we have to check that the port is
* configured as a generic serial port, and if not, delay for up to 500ms.
*/
#define claim_serial_port_i(port) \
for (uint8_t i = 0; i < SERIAL_TIMEOUT / 5 && \
registry_get_plugged_type(port) == E_DEVICE_NONE; ++i) { \
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) { \
vexBackgroundProcessing(); \
registry_update_types(); \
} else { \
delay(5); \
} \
} \
claim_port_i(port, E_DEVICE_SERIAL)

// Control function

int32_t serial_enable(uint8_t port) {
Expand All @@ -43,55 +64,55 @@ int32_t serial_enable(uint8_t port) {
}

int32_t serial_set_baudrate(uint8_t port, int32_t baudrate) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
vexDeviceGenericSerialBaudrate(device->device_info, baudrate);
return_port(port - 1, PROS_SUCCESS);
}

int32_t serial_flush(uint8_t port) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
vexDeviceGenericSerialFlush(device->device_info);
return_port(port - 1, PROS_SUCCESS);
}

// Telemetry functions

int32_t serial_get_read_avail(uint8_t port) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialReceiveAvail(device->device_info);
return_port(port - 1, rtn);
}

int32_t serial_get_write_free(uint8_t port) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialWriteFree(device->device_info);
return_port(port - 1, rtn);
}

// Read functions

int32_t serial_peek_byte(uint8_t port) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialPeekChar(device->device_info);
return_port(port - 1, rtn);
}

int32_t serial_read_byte(uint8_t port) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialReadChar(device->device_info);
return_port(port - 1, rtn);
}

int32_t serial_read(uint8_t port, uint8_t* buffer, int32_t length) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialReceive(device->device_info, buffer, length);
return_port(port - 1, rtn);
}

// Write functions

int32_t serial_write_byte(uint8_t port, uint8_t buffer) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialWriteChar(device->device_info, buffer);
if (rtn == -1) {
errno = EIO;
Expand All @@ -101,7 +122,7 @@ int32_t serial_write_byte(uint8_t port, uint8_t buffer) {
}

int32_t serial_write(uint8_t port, uint8_t* buffer, int32_t length) {
claim_port_i(port - 1, E_DEVICE_SERIAL);
claim_serial_port_i(port - 1);
int32_t rtn = vexDeviceGenericSerialTransmit(device->device_info, buffer, length);
if (rtn == -1) {
errno = EIO;
Expand Down