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Code Issues Releases Activity

OP-1218 fix thread safety issue with pios_com PIOS_COM_SendBufferNonBlocking

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(kudos @filnet for finding this)
This commit is contained in:
Alessio Morale 2014-02-09 11:37:02 +01:00
parent c7ada40c2e
commit 590c27af29
1 changed files with 20 additions and 2 deletions
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22
flight/pios/common/pios_com.c
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@ -51,6 +51,7 @@ struct pios_com_dev {
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreHandle tx_sem;
xSemaphoreHandle rx_sem;
xSemaphoreHandle sendbuffer_sem;
#endif
bool has_rx;
@ -155,6 +156,9 @@ int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, ui
#endif /* PIOS_INCLUDE_FREERTOS */
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, (uint32_t)com_dev);
}
#if defined(PIOS_INCLUDE_FREERTOS)
com_dev->sendbuffer_sem = xSemaphoreCreateMutex();
#endif /* PIOS_INCLUDE_FREERTOS */
*com_id = (uint32_t)com_dev;
return 0;
@ -275,6 +279,8 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
* \return -1 if port not available
* \return -2 if non-blocking mode activated: buffer is full
* caller should retry until buffer is free again
* \return -3 another thread is already sending, caller should
* retry until com is available again
* \return number of bytes transmitted on success
*/
int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len)
@ -287,7 +293,11 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
}
PIOS_Assert(com_dev->has_tx);
#if defined(PIOS_INCLUDE_FREERTOS)
if(xSemaphoreTake(com_dev->sendbuffer_sem, 0) != pdTRUE){
return -3;
}
#endif /* PIOS_INCLUDE_FREERTOS */
if (com_dev->driver->available && !com_dev->driver->available(com_dev->lower_id)) {
/*
* Underlying device is down/unconnected.
@ -297,10 +307,16 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
* no longer accepting data.
*/
fifoBuf_clearData(&com_dev->tx);
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return len;
}
if (len > fifoBuf_getFree(&com_dev->tx)) {
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
/* Buffer cannot accept all requested bytes (retry) */
return -2;
}
@ -314,7 +330,9 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
fifoBuf_getUsed(&com_dev->tx));
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return bytes_into_fifo;
}