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Code Issues Releases Activity

RFM22b: Start to move the ISR into userspace

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This commit is contained in:
James Cotton 2012-08-26 02:41:19 -05:00
parent b1bd6d8583
commit 477385ca25
3 changed files with 45 additions and 5 deletions
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2
flight/Modules/Radio/radio.c
View File

@ -321,7 +321,7 @@ static void radioReceiveTask(void *parameters)
if(p == NULL) { if(p == NULL) {
// Wait a bit for a packet to come available. // Wait a bit for a packet to come available.
vTaskDelay(5); PIOS_RFM22_processPendingISR(5);
continue; continue;
} }

47
flight/PiOS/Common/pios_rfm22b.c
View File

@ -162,6 +162,9 @@ struct pios_rfm22b_dev {
uint32_t deviceID; uint32_t deviceID;
// ISR pending
xSemaphoreHandle isrPending;
// The COM callback functions. // The COM callback functions.
pios_com_callback rx_in_cb; pios_com_callback rx_in_cb;
uint32_t rx_in_context; uint32_t rx_in_context;
@ -277,7 +280,7 @@ const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2
volatile bool initialized = false; volatile bool initialized = false;
#if defined(RFM22_EXT_INT_USE) #if defined(RFM22_EXT_INT_USE)
volatile bool exec_using_spi; // set this if you want to access the SPI bus outside of the interrupt volatile bool exec_using_spi; // set this if you want to access the SPI bus outside of the interrupt
#endif #endif
uint8_t device_type; // the RF chips device ID number uint8_t device_type; // the RF chips device ID number
@ -397,6 +400,8 @@ static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
} }
#endif #endif
static struct pios_rfm22b_dev * g_rfm22b_dev;
/** /**
* Initialise an RFM22B device * Initialise an RFM22B device
*/ */
@ -414,6 +419,10 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
rfm22b_dev->cfg = *cfg; rfm22b_dev->cfg = *cfg;
*rfm22b_id = (uint32_t)rfm22b_dev; *rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Initialize the TX pre-buffer pointer. // Initialize the TX pre-buffer pointer.
tx_pre_buffer_size = 0; tx_pre_buffer_size = 0;
@ -719,13 +728,43 @@ uint8_t rfm22_read(uint8_t addr)
// ************************************ // ************************************
// external interrupt // external interrupt
uint32_t rfm32_errors;
uint32_t rfm32_irqs_processed;
uint32_t rfm32_irqs_processedv2;
volatile bool pending;
void PIOS_RFM22_EXT_Int(void) void PIOS_RFM22_EXT_Int(void)
{ {
if (!exec_using_spi) bool valid = PIOS_RFM22B_validate(g_rfm22b_dev);
rfm22_processInt(); PIOS_Assert(valid);
portBASE_TYPE pxHigherPriorityTaskWoken;
if (!exec_using_spi) {
if (xSemaphoreGiveFromISR(g_rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm32_errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
}
pending = true;
} }
void PIOS_RFM22_processPendingISR(uint32_t wait_ms)
{
bool valid = PIOS_RFM22B_validate(g_rfm22b_dev);
PIOS_Assert(valid);
if ( xSemaphoreTake(g_rfm22b_dev->isrPending, wait_ms / portTICK_RATE_MS) == pdTRUE ) {
rfm32_irqs_processed++;
rfm22_processInt();
}
if (pending) {
rfm32_irqs_processedv2++;
rfm22_processInt();
pending = false;
}
}
// ************************************ // ************************************
// set/get the current tx power setting // set/get the current tx power setting

1
flight/PiOS/inc/pios_rfm22b.h
View File

@ -48,6 +48,7 @@ extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, const struct pios_rfm22b_cf
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id); extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
extern int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id); extern int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id);
extern int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id); extern int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id);
extern void PIOS_RFM22_processPendingISR(uint32_t wait_ms);
#endif /* PIOS_RFM22B_H */ #endif /* PIOS_RFM22B_H */