Pixy&Usb work with the new folder structure now.

common/app/app.c

@@ -4,11 +4,14 @@
 #include "pixy.h"
 #include <stdio.h>
 
+
+bool pixy_connected = false;
+
 void app_init() {
 	system_init();
 	tft_init();
 
-	pixy_init();
+	pixy_connected = (pixy_init()==0); //try to connect to pixy
 		
 	//only testwise
 	tft_clear(WHITE);	
@@ -21,18 +24,33 @@ void app_init() {
 
 
 
-void pixy_led_test();
+int pixy_led_test();
-void pixy_frame_test();
+int pixy_frame_test();
 
 //app event loop
 void app_process() {
-	pixy_service(); //send/receive event data
+	//Note: The only way to detect that pixy has been disconnected is if a command fails. There's no pixy_is_connected method yet :'(
 
-	//Code for tests see below
+	if(!pixy_connected) { //Pixy not connected
-	pixy_led_test();	
+		pixy_close(); //Ensure that all pixy resources are freed (failsafe)
-	pixy_frame_test();
+		if(pixy_init()==0) { //try to connect to pixy
-	        
+			pixy_connected=true;
-	//system_delay(500);
+		}
+	}
+
+	if(pixy_connected) {
+		pixy_service(); //Send/receive event data from/to pixy failed
+
+		//Code for tests see below
+		if(pixy_led_test()!=0) {
+			pixy_connected=false;
+		}
+			
+		/*if(pixy_frame_test()!=0) {
+			 pixy_connected=false;
+	        }*/
+		system_delay(500);
+	}
 }
 
 
@@ -42,7 +60,7 @@ int colorind;
 const uint32_t colors [] = {0xFF0000, 0x00FF00,0x0000FF,0xFFFF00,0x00FFFF,0xFF00FF,0xFFFFFF,0x000000};
 const int num_colors = sizeof(colors)/sizeof(uint32_t);
 
-void pixy_led_test() {
+int pixy_led_test() {
         if(colorind==0) {
                 pixy_led_set_max_current(5);
         }
@@ -51,6 +69,12 @@ void pixy_led_test() {
         int return_value;
         return_value = pixy_command("led_set", INT32(colors[colorind++]), END_OUT_ARGS,  &response, END_IN_ARGS);
         colorind%=num_colors;
+
+	if(return_value!=0) {
+		colorind=0; //reset color ind, to start at zero when plugging pixy in again
+	}
+
+	return return_value;
 }
 
 //----------------------------------------------------------------------------------------------------------------------------
@@ -58,7 +82,7 @@ void pixy_led_test() {
 int renderBA81(uint8_t renderFlags, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
 
 
-void pixy_frame_test() {
+int pixy_frame_test() {
 
  uint8_t* videodata;
       int32_t response;
@@ -88,7 +112,8 @@ void pixy_frame_test() {
 
       if(return_value==0) {
             return_value = renderBA81(renderflags,xwidth,ywidth,size,videodata);
-      }
+      } 
+      return return_value;
 }
 
 

discovery/Makefile

@@ -8,6 +8,7 @@ CROSS_COMPILE=arm-none-eabi-
 CC=$(CROSS_COMPILE)gcc
 OBJCOPY=$(CROSS_COMPILE)objcopy
 GDB=$(CROSS_COMPILE)gdb
+SIZE=$(CROSS_COMPILE)size
 
 MKDIR=mkdir -p
 RM=rm -f
@@ -90,6 +91,7 @@ stop:
 #elf to binary
 %.bin: %.elf
 	$(OBJCOPY) -O binary $< $@
+	$(SIZE) $<
 
 #Asm files to objects
 $(OBJ_DIR)/%.o: $(SRC_DIR)/%.s

discovery/src/main.c

@@ -1,13 +1,24 @@
 #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();
-    //USBH_Process(&USB_OTG_Core, &USB_Host);
   }
   
 }

discovery/src/usbh_msc_core.c

@@ -1,7 +1,6 @@
 
 #include "usbh_msc_core.h"
 #include "usbh_core.h"
-#include "pixy.h"
 
 
 static USBH_Status USBH_MSC_InterfaceInit  (USB_OTG_CORE_HANDLE *pdev ,
@@ -18,6 +17,8 @@ static USBH_Status USBH_MSC_ClassRequest(USB_OTG_CORE_HANDLE *pdev ,
 
 
 extern USB_OTG_CORE_HANDLE USB_OTG_Core;
+extern USBH_HOST USB_Host;
+
 
 
 USBH_Class_cb_TypeDef  USBH_MSC_cb = 
@@ -41,8 +42,6 @@ typedef struct
 MSC_Machine_TypeDef;
 MSC_Machine_TypeDef MSC_Machine;
 
-enum {init,running,down}state;
-
 
 static USBH_Status USBH_MSC_InterfaceInit ( USB_OTG_CORE_HANDLE *pdev, 
                                         void *phost)
@@ -108,11 +107,6 @@ static USBH_Status USBH_MSC_InterfaceInit ( USB_OTG_CORE_HANDLE *pdev,
 void USBH_MSC_InterfaceDeInit ( USB_OTG_CORE_HANDLE *pdev,
                                 void *phost)
 {	
-  if(state==running) {
-	pixy_close();
-	state=down;
-  }
-
   if ( MSC_Machine.hc_num_out)
   {
     USB_OTG_HC_Halt(pdev, MSC_Machine.hc_num_out);
@@ -133,8 +127,6 @@ static USBH_Status USBH_MSC_ClassRequest(USB_OTG_CORE_HANDLE *pdev ,
 {   
   
   USBH_Status status = USBH_OK ;
-  state=init;
-  
   return status; 
 }
 
@@ -147,32 +139,11 @@ static USBH_Status USBH_MSC_Handle(USB_OTG_CORE_HANDLE *pdev ,
 
   if(HCD_IsDeviceConnected(pdev))
   {
-    switch(state)
+	int appliStatus = pphost->usr_cb->USBH_USR_MSC_Application();
-    {
+	if(appliStatus != 0)
-    case init:
+	{
-    	state = running;
+	  status =  USBH_APPLY_DEINIT;
-    	USB_OTG_BSP_mDelay(3000); //let the pixy led flashing pass
+	}
-    	pixy_init();
-    	break;
-    case running:
-		pixy_service();
-		int appliStatus = pphost->usr_cb->USBH_USR_MSC_Application();
-		if(appliStatus == 0)
-		{
-		  state=running; //stay here
-		}
-		else if (appliStatus == 1)
-		{
-		  status =  USBH_APPLY_DEINIT;
-		  pixy_close();
-		  state=down;
-		}
-    	break;
-    case down:
-    	break;
-    default:
-    	break;
-    }
   }
   return status;
 
@@ -197,16 +168,37 @@ uint32_t USBH_LL_getTimer() {
 
 
 int USBH_LL_open() {
+	int timeoutDetect=100;
+	int timeoutStartup=3000;
+	cnt_int=0; //reset timer
+
+	while(USB_Host.gState!=HOST_CLASS && cnt_int < timeoutDetect) {
+            	USBH_Process(&USB_OTG_Core, &USB_Host);		
+	}
+
+	if(USB_Host.gState!=HOST_CLASS) {
+		return -5; // = LIBUSB_ERROR_NOT_FOUND
+	}
+
+
+        //moved to common
+	cnt_int=0;
+	while(cnt_int<timeoutStartup) { //let pixy's led flashing pass	
+		USBH_Process(&USB_OTG_Core, &USB_Host);
+	}
 	return 0; //ok
 }
 
 int USBH_LL_close() {
+	USBH_Process(&USB_OTG_Core, &USB_Host);		
 	return 0;
 }
 
 int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 	USB_OTG_CORE_HANDLE *pdev = &USB_OTG_Core;
 	
+	if(!HCD_IsDeviceConnected(pdev)) return -1;
+
 	USBH_BulkSendData (pdev,
                          (uint8_t*)data,
                          len ,
@@ -214,7 +206,7 @@ int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 
 	URB_STATE state;
 	cnt_int=0; //reset timer
-	if(timeoutMs==0) timeoutMs=10000; //Force 10s timeout (testwise)
+	if(timeoutMs==0) timeoutMs=1000; //Force 1s timeout (testwise)
 
 	while((state=HCD_GetURB_State(pdev , MSC_Machine.hc_num_out)) == URB_IDLE &&
 	      (timeoutMs==0 || cnt_int < timeoutMs));
@@ -222,7 +214,7 @@ int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 	if(state!=URB_DONE) {
 		if(timeoutMs>0 && cnt_int>=timeoutMs) {
 			STM_EVAL_LEDOn(LED3);
-			return -7; //timeout (error code like with libusb
+			return -7; //timeout (error code like with libusb)
 
 		}
 		return -1;
@@ -234,6 +226,8 @@ int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 
 	USB_OTG_CORE_HANDLE *pdev = &USB_OTG_Core;
 	
+	if(!HCD_IsDeviceConnected(pdev)) return -1;
+	
 	USBH_BulkReceiveData (pdev,
                          data,
                          len ,
@@ -241,7 +235,7 @@ int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 
 	URB_STATE state;
 	cnt_int=0; //reset timer
-	if(timeoutMs==0) timeoutMs=10000; //Force 10s timeout (testwise)
+	if(timeoutMs==0) timeoutMs=1000; //Force 1s timeout (testwise)
 
 	while((state=HCD_GetURB_State(pdev , MSC_Machine.hc_num_in)) == URB_IDLE &&
 	      (timeoutMs==0 || cnt_int < timeoutMs));
@@ -249,7 +243,7 @@ int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {
 	if(state!=URB_DONE) {
 		if(timeoutMs>0 && cnt_int>=timeoutMs) {
 			STM_EVAL_LEDOn(LED3);
-			return -7; //timeout (error code like with libusb
+			return -7; //timeout (error code like with libusb)
 		}
 		return -1;
 	}

discovery/src/usbh_usr.c

@@ -1,7 +1,7 @@
 #include "usbh_usr.h"
 #include <stdbool.h>
 #include <string.h>
-#include "pixy.h"
+//#include "pixy.h"