[Fw] Update REF protocols.

2.Firmware/Core-STM32F4-fw/Bsp/communication/communication.cpp

@@ -1,95 +1,89 @@
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "communication.hpp"
-#include "common_inc.h"
-
-/* Private defines -----------------------------------------------------------*/
-/* Private macros ------------------------------------------------------------*/
-/* Private typedef -----------------------------------------------------------*/
-/* Global constant data ------------------------------------------------------*/
-/* Global variables ----------------------------------------------------------*/
-/* Private constant data -----------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-volatile bool endpointListValid = false;
-/* Private function prototypes -----------------------------------------------*/
-/* Function implementations --------------------------------------------------*/
-// @brief Sends a line on the specified output.
-
-osThreadId_t commTaskHandle;
-const osThreadAttr_t commTask_attributes = {
-    .name = "commTask",
-    .stack_size = 10000 * 4,
-    .priority = (osPriority_t) osPriorityNormal,
-};
-
-void InitCommunication(void)
-{
-    printf("\r\nHello, REF v%.1f Started!\r\n", CONFIG_FW_VERSION);
-
-    // Start command handling thread
-    commTaskHandle = osThreadNew(CommunicationTask, NULL, &commTask_attributes);
-
-    while (!endpointListValid)
-        osDelay(1);
-}
-
-extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
-osThreadId_t usbIrqTaskHandle;
-
-void UsbDeferredInterruptTask(void* ctx)
-{
-    (void) ctx; // unused parameter
-
-    for (;;)
-    {
-        // Wait for signalling from USB interrupt (OTG_FS_IRQHandler)
-        osStatus semaphore_status = osSemaphoreAcquire(sem_usb_irq, osWaitForever);
-        if (semaphore_status == osOK)
-        {
-            // We have a new incoming USB transmission: handle it
-            HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
-            // Let the irq (OTG_FS_IRQHandler) fire again.
-            HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
-        }
-    }
-}
-
-// Thread to handle deffered processing of USB interrupt, and
-// read commands out of the UART DMA circular buffer
-void CommunicationTask(void* ctx)
-{
-    (void) ctx; // unused parameter
-
-    CommitProtocol();
-
-    // Allow main init to continue
-    endpointListValid = true;
-
-    StartUartServer();
-    StartUsbServer();
-    StartCanServer(CAN1);
-    StartCanServer(CAN2);
-
-    for (;;)
-    {
-        osDelay(1000); // nothing to do
-    }
-}
-
-extern "C" {
-int _write(int file, const char* data, int len);
-}
-
-// @brief This is what printf calls internally
-int _write(int file, const char* data, int len)
-{
-#ifdef DEBUG_VIA_USB_SERIAL
-    usbStreamOutputPtr->process_bytes((const uint8_t*) data, len, nullptr);
-    uart4StreamOutputPtr->process_bytes((const uint8_t*) data, len, nullptr);
-#endif
-
-    uart5StreamOutputPtr->process_bytes((const uint8_t*) data, len, nullptr);
-
-    return len;
-}
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "communication.hpp"
+#include "common_inc.h"
+
+/* Private defines -----------------------------------------------------------*/
+/* Private macros ------------------------------------------------------------*/
+/* Private typedef -----------------------------------------------------------*/
+/* Global constant data ------------------------------------------------------*/
+/* Global variables ----------------------------------------------------------*/
+/* Private constant data -----------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+volatile bool endpointListValid = false;
+/* Private function prototypes -----------------------------------------------*/
+/* Function implementations --------------------------------------------------*/
+// @brief Sends a line on the specified output.
+
+osThreadId_t commTaskHandle;
+const osThreadAttr_t commTask_attributes = {
+    .name = "commTask",
+    .stack_size = 45000,
+    .priority = (osPriority_t) osPriorityNormal,
+};
+
+void InitCommunication(void)
+{
+    // Start command handling thread
+    commTaskHandle = osThreadNew(CommunicationTask, nullptr, &commTask_attributes);
+
+    while (!endpointListValid)
+        osDelay(1);
+}
+
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+osThreadId_t usbIrqTaskHandle;
+
+void UsbDeferredInterruptTask(void* ctx)
+{
+    (void) ctx; // unused parameter
+
+    for (;;)
+    {
+        // Wait for signalling from USB interrupt (OTG_FS_IRQHandler)
+        osStatus semaphore_status = osSemaphoreAcquire(sem_usb_irq, osWaitForever);
+        if (semaphore_status == osOK)
+        {
+            // We have a new incoming USB transmission: handle it
+            HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+            // Let the irq (OTG_FS_IRQHandler) fire again.
+            HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+        }
+    }
+}
+
+// Thread to handle deffered processing of USB interrupt, and
+// read commands out of the UART DMA circular buffer
+void CommunicationTask(void* ctx)
+{
+    (void) ctx; // unused parameter
+
+    CommitProtocol();
+
+    // Allow main init to continue
+    endpointListValid = true;
+
+    StartUartServer();
+    StartUsbServer();
+    StartCanServer(CAN1);
+    StartCanServer(CAN2);
+
+    for (;;)
+    {
+        osDelay(1000); // nothing to do
+    }
+}
+
+extern "C" {
+int _write(int file, const char* data, int len);
+}
+
+// @brief This is what printf calls internally
+int _write(int file, const char* data, int len)
+{
+    usbStreamOutputPtr->process_bytes((const uint8_t*) data, len, nullptr);
+    uart4StreamOutputPtr->process_bytes((const uint8_t*) data, len, nullptr);
+
+    return len;
+}