Simplified code a bit. Emulator does not work stable when replugging pixy.

common/app/app.c

@@ -29,6 +29,10 @@ int pixy_frame_test();
 
 //app event loop
 void app_process() {
+	
+	system_process(); //Let the system handle it's pending events
+
+
 	//Note: The only way to detect that pixy has been disconnected is if a command fails. There's no pixy_is_connected method yet :'(
 
 	if(!pixy_connected) { //Pixy not connected

common/lowlevel/ll_system.h

@@ -3,4 +3,4 @@
 
 bool ll_system_init();
 void ll_system_delay(uint32_t msec);
-
+void ll_system_process();

common/system/system.c

@@ -6,10 +6,10 @@ bool system_init() {
 	return ll_system_init();
 }
 
-
-
 void system_delay(uint32_t msec) {
 	ll_system_delay(msec);
 }
 
-
+void system_process() {
+	ll_system_process();
+}

common/system/system.h

@@ -3,3 +3,4 @@
 
 bool system_init();
 void system_delay(uint32_t msec);
+void system_process();

discovery/src/ll_system.c

@@ -55,6 +55,12 @@ bool ll_system_init(void)
   return true;
 }
 
+void ll_system_process() {
+	USBH_Process(&USB_OTG_Core, &USB_Host);
+}
+
+
+
 void ll_system_delay(uint32_t msec) {
 	USB_OTG_BSP_mDelay(msec);
 }

discovery/src/main.c

@@ -1,23 +1,11 @@
 #include "app.h"
 
-
-
-#include "usb_hcd_int.h"
-#include "usbh_usr.h"
-#include "usbh_core.h"
-#include "usbh_msc_core.h"
-
-
-extern USB_OTG_CORE_HANDLE          USB_OTG_Core;
-extern USBH_HOST                    USB_Host;
-
 int main(void)
 { 
   app_init();
 
   while (1)
   {
-    USBH_Process(&USB_OTG_Core, &USB_Host);
     app_process();
   }
   

discovery/src/usbh_msc_core.c

@@ -181,7 +181,6 @@ int USBH_LL_open() {
 	}
 
 
-        //moved to common
 	cnt_int=0;
 	while(cnt_int<timeoutStartup) { //let pixy's led flashing pass	
 		USBH_Process(&USB_OTG_Core, &USB_Host);

discovery/src/usbh_usr.c

@@ -1,8 +1,6 @@
 #include "usbh_usr.h"
 #include <stdbool.h>
 #include <string.h>
-//#include "pixy.h"
-
 
 
 USBH_Usr_cb_TypeDef USR_Callbacks =
@@ -144,7 +142,6 @@ void USBH_USR_Configuration_DescAvailable(USBH_CfgDesc_TypeDef * cfgDesc,
 void USBH_USR_Manufacturer_String(void *ManufacturerString)
 {
 	manufacturer_ok = strcmp((char*)ManufacturerString,"Charmed Labs") == 0;
-  /* callback for  Manufacturer String */
 }
 
 /**
@@ -155,7 +152,6 @@ void USBH_USR_Manufacturer_String(void *ManufacturerString)
 void USBH_USR_Product_String(void *ProductString)
 {
 	product_ok = strcmp((char*)ProductString,"Pixy") == 0;
-  /* callback for Product String */
 }
 
 /**
@@ -166,7 +162,6 @@ void USBH_USR_Product_String(void *ProductString)
 void USBH_USR_SerialNum_String(void *SerialNumString)
 {
 	serial_ok = strcmp((char*)SerialNumString,"DEMO 0.0") == 0;
-  /* callback for SerialNum_String */
 }
 
 /**
@@ -220,26 +215,8 @@ void USBH_USR_OverCurrentDetected (void)
   * @param  None
   * @retval Staus
   */
-
-/*int colorind;
-const uint32_t colors [] = {0xFF0000, 0x00FF00,0x0000FF,0xFFFF00,0x00FFFF,0xFF00FF,0xFFFFFF,0x000000};
-const int num_colors = sizeof(colors)/sizeof(uint32_t);
-*/
-
 int USBH_USR_MSC_Application(void)
 {
-
-/*	if(colorind==0) {
-		pixy_led_set_max_current(5);
-	}
-
-	 int32_t response;
-	 int return_value;
-	 return_value = pixy_command("led_set", INT32(colors[colorind++]), END_OUT_ARGS,  &response, END_IN_ARGS);
-	 colorind%=num_colors;
-	 USB_OTG_BSP_mDelay(500);
-*/
-
   return 0;
 }
 
@@ -254,10 +231,3 @@ void USBH_USR_DeInit(void)
 
 }
 
-/**
-  * @}
-  */
-
-
-
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

emulator/qt/ll_system.cpp

@@ -1,4 +1,6 @@
 #include <QThread>
+#include <QApplication>
+
 extern "C" {
 #include "ll_system.h"
 }
@@ -11,3 +13,7 @@ void ll_system_delay(uint32_t msec) {
         QThread::msleep(msec);
 }
 
+void ll_system_process() {
+        QApplication::processEvents();
+}
+

emulator/qt/main.cpp

@@ -10,7 +10,6 @@ extern "C" {
 void app_loop() {
     while(!QApplication::closingDown()) {
         app_process();
-        QApplication::processEvents();
     }
 }