Improve USB serial support

eclipse-zenoh · Dec 6, 2024 · 24b7338 · 24b7338
1 parent d5789b5
commit 24b7338
Show file tree

Hide file tree

Showing 3 changed files with 22 additions and 12 deletions.
diff --git a/examples/rpi_pico/CMakeLists.txt b/examples/rpi_pico/CMakeLists.txt
@@ -142,20 +142,22 @@ function(add_example name)
   )
   if(ZENOH_USB_UART)
     pico_enable_stdio_uart(${name} 1)
+    pico_enable_stdio_usb(${name} 0)
   else()
+    pico_enable_stdio_uart(${name} 0)
     pico_enable_stdio_usb(${name} 1)
   endif()
   pico_add_extra_outputs(${name})
 endfunction()
 
-add_example(z_get)
+#add_example(z_get)
 add_example(z_pub)
-add_example(z_pub_st)
-add_example(z_pub_thr)
-add_example(z_pull)
-add_example(z_put)
-add_example(z_queryable)
-add_example(z_scout)
-add_example(z_sub)
-add_example(z_sub_st)
-add_example(z_sub_thr)
+#add_example(z_pub_st)
+#add_example(z_pub_thr)
+#add_example(z_pull)
+#add_example(z_put)
+#add_example(z_queryable)
+#add_example(z_scout)
+#add_example(z_sub)
+#add_example(z_sub_st)
+#add_example(z_sub_thr)
diff --git a/examples/rpi_pico/main.c b/examples/rpi_pico/main.c
@@ -44,7 +44,7 @@ void print_ip_address() {
 
 void main_task(void *params) {
     (void)params;
-    vTaskDelay(pdMS_TO_TICKS(1000));
+    vTaskDelay(pdMS_TO_TICKS(3000));
 #if WIFI_SUPPORT_ENABLED
     if (cyw43_arch_init()) {
         printf("Failed to initialise\n");

diff --git a/src/system/rpi_pico/usb_uart.c b/src/system/rpi_pico/usb_uart.c
@@ -13,13 +13,17 @@
 //
 
 #include "zenoh-pico/system/platform.h"
+#include "zenoh-pico/utils/logging.h"
 
 #if Z_FEATURE_LINK_SERIAL == 1 && Z_FEATURE_LINK_SERIAL_USB == 1
 
 #include "pico/unique_id.h"
 #include "tusb.h"
 
 // ===== USB descriptors =====
+// Copied from
+// https://github.com/raspberrypi/pico-sdk/blob/master/src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.c
+//
 #ifndef USBD_VID
 #define USBD_VID (0x2E8A)  // Raspberry Pi
 #endif
@@ -180,14 +184,18 @@ static void *_z_usb_uart_task_proc(void *) {
         _z_mutex_unlock(&_z_usb_uart_mutex);
         z_sleep_ms(1);
     }
+    return NULL;
 }
 
 void _z_usb_uart_init() {
     tud_init(BOARD_TUD_RHPORT);
     _z_mutex_init(&_z_usb_uart_mutex);
     _z_usb_uart_task_run = true;
     _z_task_init(&_z_usb_uart_task, NULL, &_z_usb_uart_task_proc, NULL);
-    z_sleep_s(10);
+    _Z_DEBUG("whating for host...");
+    while (!tud_cdc_connected()) {
+        z_sleep_ms(100);
+    }
 }
 
 void _z_usb_uart_deinit() {