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Code Issues Releases Activity

OP-11 Use RTOS when waiting for an I2C transfer to finish when RTOS is enabled

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@298 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2010-03-13 17:28:42 +00:00 committed by FredericG
parent 7863954f1a
commit 3b332c786f
1 changed files with 77 additions and 5 deletions
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82
flight/PiOS/STM32F10x/pios_i2c.c
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@ -34,8 +34,15 @@
#if defined(PIOS_INCLUDE_I2C)
/* Options */
// #define USE_DEBUG_PINS
#define USE_DEBUG_PINS
#ifdef PIOS_INCLUDE_FREERTOS
#define USE_FREERTOS
#endif
/* Global Variables */
volatile uint32_t PIOS_I2C_UnexpectedEvent;
@ -50,6 +57,7 @@ typedef union {
unsigned STOP_REQUESTED:1;
unsigned ABORT_IF_FIRST_BYTE_0:1;
unsigned WRITE_WITHOUT_STOP:1;
unsigned INIRQ:1;
};
} TransferStateTypeDef;
@ -66,6 +74,11 @@ typedef struct {
volatile TransferStateTypeDef transfer_state;
volatile int32_t transfer_error;
#ifdef USE_FREERTOS
xSemaphoreHandle sem_readySignal;
portBASE_TYPE xHigherPriorityTaskWoken;
#endif
volatile uint8_t i2c_semaphore;
} I2CRecTypeDef;
@ -77,6 +90,10 @@ static void ER_IRQHandler(I2CRecTypeDef *i2cx);
/* Local Variables */
static I2CRecTypeDef I2CRec;
/* Local Functions */
static void TransferStart(I2CRecTypeDef *i2cx);
static void TransferEnd(I2CRecTypeDef *i2cx);
/* Macros */
#ifdef USE_DEBUG_PINS
#define DEBUG_PIN_ISR 0
@ -117,6 +134,11 @@ int32_t PIOS_I2C_Init(void)
/* Now accessible for other tasks */
I2CRec.i2c_semaphore = 0;
#ifdef USE_FREERTOS
vSemaphoreCreateBinary(I2CRec.sem_readySignal);
#endif
TransferEnd(&I2CRec);
/* Configure and enable I2C2 interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
@ -221,6 +243,8 @@ int32_t PIOS_I2C_UnlockDevice(void)
*/
static void TransferStart(I2CRecTypeDef *i2cx)
{
assert(i2cx->transfer_state.BUSY == 0);
DebugPinHigh(DEBUG_PIN_BUSY);
i2cx->transfer_state.BUSY = 1;
@ -238,6 +262,17 @@ static void TransferEnd(I2CRecTypeDef *i2cx)
DebugPinLow(DEBUG_PIN_BUSY);
i2cx->transfer_state.BUSY = 0;
#ifdef USE_FREERTOS
if (i2cx->transfer_state.INIRQ)
{
xSemaphoreGiveFromISR(i2cx->sem_readySignal, &i2cx->xHigherPriorityTaskWoken);
}
else
{
xSemaphoreGive(i2cx->sem_readySignal);
}
#endif
}
/**
@ -281,11 +316,28 @@ int32_t PIOS_I2C_TransferWait(void)
{
I2CRecTypeDef *i2cx = &I2CRec;
DebugPinHigh(DEBUG_PIN_WAIT);
#ifdef USE_FREERTOS
if (i2cx->transfer_state.BUSY)
{
// Wait until we see the ready signal
if (xSemaphoreTake(i2cx->sem_readySignal, PIOS_I2C_TIMEOUT_VALUE/portTICK_RATE_MS) == pdTRUE)
{
// OK, got the semaphore, release it again
assert(i2cx->transfer_state.BUSY == 0);
}
else
{
PIOS_I2C_TerminateTransfer(I2C_ERROR_TIMEOUT);
}
}
#else
uint32_t repeat_ctr = PIOS_I2C_TIMEOUT_VALUE;
uint16_t last_buffer_ix = i2cx->buffer_ix;
DebugPinHigh(DEBUG_PIN_WAIT);
if (i2cx->transfer_state.BUSY)
{
while(--repeat_ctr > 0)
@ -310,8 +362,9 @@ int32_t PIOS_I2C_TransferWait(void)
/* Timeout error - something is stalling... */
PIOS_I2C_TerminateTransfer(I2C_ERROR_TIMEOUT);
}
#endif
DebugPinHigh(DEBUG_PIN_WAIT);
DebugPinLow(DEBUG_PIN_WAIT);
return i2cx->transfer_error;
}
@ -355,6 +408,12 @@ void PIOS_I2C_StartTransfer(I2CTransferTypeDef transfer, uint8_t address, uint8_
return;
}
#ifdef USE_FREERTOS
// Consume Ready semaphore in case it would be there for some reason
xSemaphoreTake(i2cx->sem_readySignal, 0);
assert(xSemaphoreTake(i2cx->sem_readySignal, 0) == pdFALSE);
#endif
// Clear state
i2cx->transfer_state.ALL = 0;
i2cx->transfer_error = 0;
@ -402,12 +461,18 @@ void PIOS_I2C_StartTransfer(I2CTransferTypeDef transfer, uint8_t address, uint8_
static void EV_IRQHandler(I2CRecTypeDef *i2cx)
{
uint8_t b;
uint32_t event;
DebugPinHigh(DEBUG_PIN_ISR);
// Update state
i2cx->transfer_state.INIRQ = 1;
#ifdef USE_FREERTOS
i2cx->xHigherPriorityTaskWoken = pdFALSE;
#endif
/* Read SR1 and SR2 at the beginning (if not done so, flags may get lost) */
uint32_t event = I2C_GetLastEvent(i2cx->base);
event = I2C_GetLastEvent(i2cx->base);
/* The order of the handling blocks is chosen by test results @ 1MHZ */
/* Don't change this order */
@ -544,6 +609,13 @@ static void EV_IRQHandler(I2CRecTypeDef *i2cx)
// I2C_GenerateSTOP(i2cx->base, ENABLE);
isr_return:
// Cause task-switch when needed
#ifdef USE_FREERTOS
portEND_SWITCHING_ISR(i2cx->xHigherPriorityTaskWoken);
#endif
// Update state
i2cx->transfer_state.INIRQ = 0;
DebugPinLow(DEBUG_PIN_ISR);
}